diff --git a/inverse_hard/run_20260427_001012__traj_000108_meta.json b/inverse_hard/run_20260427_001012__traj_000108_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d81ae46de6d4ec95a12cd18056886d10e926fa33 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000108_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 108, + "episode_id": 0, + "state_id": 24, + "sample_index": 24, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + -1020.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3020.0, + -533.3975, + 850.0 + ], + "actual_end_pos": [ + -3020.0, + -533.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3020.0, + -533.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3020.0, + -533.3975, + 850.0 + ], + "actual_end_pos": [ + -3020.0, + -533.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3020.0, + -533.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000110_meta.json b/inverse_hard/run_20260427_001012__traj_000110_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d323b23b84396f876ff52eaedfc6eb268c87cd5d --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000110_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 110, + "episode_id": 0, + "state_id": 24, + "sample_index": 24, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + -1020.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "move_left", + "move_left", + "turn_right", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "turn_left", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3020.0, + -806.6025, + 850.0 + ], + "actual_end_pos": [ + -3020.0, + -806.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3020.0, + -806.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -893.2051, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -893.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3070.0, + -893.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -893.2051, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -893.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3070.0, + -893.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3095.8819, + -989.7977, + 850.0 + ], + "actual_end_pos": [ + -3095.8819, + -989.7977, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3095.8819, + -989.7977, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "actual_end_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "actual_end_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "actual_end_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "actual_end_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3071.7638, + -1172.9928, + 850.0 + ], + "actual_end_pos": [ + -3071.7638, + -1172.9928, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3071.7638, + -1172.9928, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3021.7638, + -1259.5953, + 850.0 + ], + "actual_end_pos": [ + -3021.7638, + -1259.5953, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3021.7638, + -1259.5953, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3071.7638, + -1172.9928, + 850.0 + ], + "actual_end_pos": [ + -3071.7638, + -1172.9928, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3071.7638, + -1172.9928, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "actual_end_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "actual_end_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "actual_end_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "actual_end_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3121.7638, + -1086.3902, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3095.8819, + -989.7977, + 850.0 + ], + "actual_end_pos": [ + -3095.8819, + -989.7977, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3095.8819, + -989.7977, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -893.2051, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -893.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3070.0, + -893.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -893.2051, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -893.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3070.0, + -893.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3020.0, + -806.6025, + 850.0 + ], + "actual_end_pos": [ + -3020.0, + -806.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3020.0, + -806.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000115_meta.json b/inverse_hard/run_20260427_001012__traj_000115_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fe9fec645ec34225b30e49bf0daae7d19a6ac28d --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000115_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 115, + "episode_id": 0, + "state_id": 25, + "sample_index": 25, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + -1020.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "move_left", + "move_right", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3020.0, + -906.6025, + 850.0 + ], + "actual_end_pos": [ + -3020.0, + -906.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3020.0, + -906.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -993.2051, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -993.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3070.0, + -993.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + -1079.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + -1079.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3120.0, + -1079.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + -1079.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + -1079.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3120.0, + -1079.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + -1079.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + -1079.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3120.0, + -1079.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3020.0, + -1079.8076, + 850.0 + ], + "actual_end_pos": [ + -3020.0, + -1079.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3020.0, + -1079.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + -1079.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + -1079.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3120.0, + -1079.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + -1079.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + -1079.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3120.0, + -1079.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + -1079.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + -1079.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3120.0, + -1079.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -993.2051, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -993.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3070.0, + -993.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3020.0, + -906.6025, + 850.0 + ], + "actual_end_pos": [ + -3020.0, + -906.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3020.0, + -906.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000128_meta.json b/inverse_hard/run_20260427_001012__traj_000128_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b5e2db03caf30f1df45d5bdd92ea15b0fb29d3d4 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000128_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 128, + "episode_id": 0, + "state_id": 28, + "sample_index": 28, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + -620.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "move_left", + "move_right", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2944.1181, + -823.4074, + 850.0 + ], + "actual_end_pos": [ + -2944.1181, + -823.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2944.1181, + -823.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2918.2362, + -726.8148, + 850.0 + ], + "actual_end_pos": [ + -2918.2362, + -726.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2918.2362, + -726.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "actual_end_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "actual_end_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "actual_end_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "actual_end_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2978.9568, + -680.2223, + 850.0 + ], + "actual_end_pos": [ + -2978.9568, + -680.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2978.9568, + -680.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3065.5594, + -730.2223, + 850.0 + ], + "actual_end_pos": [ + -3065.5594, + -730.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3065.5594, + -730.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3152.1619, + -780.2223, + 850.0 + ], + "actual_end_pos": [ + -3152.1619, + -780.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3152.1619, + -780.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3152.1619, + -780.2223, + 850.0 + ], + "actual_end_pos": [ + -3152.1619, + -780.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3152.1619, + -780.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3081.4512, + -850.9329, + 850.0 + ], + "actual_end_pos": [ + -3081.4512, + -850.9329, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3081.4512, + -850.9329, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3152.1619, + -780.2223, + 850.0 + ], + "actual_end_pos": [ + -3152.1619, + -780.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3152.1619, + -780.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3152.1619, + -780.2223, + 850.0 + ], + "actual_end_pos": [ + -3152.1619, + -780.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3152.1619, + -780.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3065.5594, + -730.2223, + 850.0 + ], + "actual_end_pos": [ + -3065.5594, + -730.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3065.5594, + -730.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2978.9568, + -680.2223, + 850.0 + ], + "actual_end_pos": [ + -2978.9568, + -680.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2978.9568, + -680.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "actual_end_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "actual_end_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "actual_end_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "actual_end_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2892.3543, + -630.2223, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2918.2362, + -726.8148, + 850.0 + ], + "actual_end_pos": [ + -2918.2362, + -726.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2918.2362, + -726.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2944.1181, + -823.4074, + 850.0 + ], + "actual_end_pos": [ + -2944.1181, + -823.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2944.1181, + -823.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000130_meta.json b/inverse_hard/run_20260427_001012__traj_000130_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..811dc965ac21e6a5bfefa7f101e9722abdcc202e --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000130_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 130, + "episode_id": 0, + "state_id": 28, + "sample_index": 28, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + -620.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3040.7107, + -990.7107, + 850.0 + ], + "actual_end_pos": [ + -3040.7107, + -990.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3040.7107, + -990.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "actual_end_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "actual_end_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "actual_end_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "actual_end_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3111.4214, + -1161.4214, + 850.0 + ], + "actual_end_pos": [ + -3111.4214, + -1161.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3111.4214, + -1161.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3111.4214, + -1261.4214, + 850.0 + ], + "actual_end_pos": [ + -3111.4214, + -1261.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3111.4214, + -1261.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3111.4214, + -1361.4214, + 850.0 + ], + "actual_end_pos": [ + -3111.4214, + -1361.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3111.4214, + -1361.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3111.4214, + -1261.4214, + 850.0 + ], + "actual_end_pos": [ + -3111.4214, + -1261.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3111.4214, + -1261.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3111.4214, + -1161.4214, + 850.0 + ], + "actual_end_pos": [ + -3111.4214, + -1161.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3111.4214, + -1161.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "actual_end_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "actual_end_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "actual_end_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "actual_end_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3111.4214, + -1061.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3040.7107, + -990.7107, + 850.0 + ], + "actual_end_pos": [ + -3040.7107, + -990.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3040.7107, + -990.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000132_meta.json b/inverse_hard/run_20260427_001012__traj_000132_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc2e6f4d0c7cfc1a36b0508bc1ce523b8337e34d --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000132_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 132, + "episode_id": 0, + "state_id": 29, + "sample_index": 29, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + -620.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3020.0, + -1006.6025, + 850.0 + ], + "actual_end_pos": [ + -3020.0, + -1006.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3020.0, + -1006.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -1093.2051, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -1093.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3070.0, + -1093.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + -1179.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + -1179.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3120.0, + -1179.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + -1179.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + -1179.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3120.0, + -1179.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + -1179.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + -1179.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3120.0, + -1179.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -1266.4102, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -1266.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3070.0, + -1266.4102, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3020.0, + -1353.0127, + 850.0 + ], + "actual_end_pos": [ + -3020.0, + -1353.0127, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3020.0, + -1353.0127, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -1266.4102, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -1266.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3070.0, + -1266.4102, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + -1179.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + -1179.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3120.0, + -1179.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + -1179.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + -1179.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3120.0, + -1179.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + -1179.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + -1179.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3120.0, + -1179.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -1093.2051, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -1093.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3070.0, + -1093.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3020.0, + -1006.6025, + 850.0 + ], + "actual_end_pos": [ + -3020.0, + -1006.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3020.0, + -1006.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + -920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + -720.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000140_meta.json b/inverse_hard/run_20260427_001012__traj_000140_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b45bcfd22d12b5f66b877f3542be92d5bd2a1b55 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000140_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 140, + "episode_id": 0, + "state_id": 30, + "sample_index": 30, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + -620.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3070.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + -533.3974, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + -533.3974, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3120.0, + -533.3974, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3044.1181, + -543.3875, + 850.0 + ], + "actual_end_pos": [ + -3044.1181, + -543.3875, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3044.1181, + -543.3875, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3018.2362, + -639.9801, + 850.0 + ], + "actual_end_pos": [ + -3018.2362, + -639.9801, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3018.2362, + -639.9801, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3044.1181, + -543.3875, + 850.0 + ], + "actual_end_pos": [ + -3044.1181, + -543.3875, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3044.1181, + -543.3875, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3070.0, + -446.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + -533.3974, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + -533.3974, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3120.0, + -533.3974, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3070.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000154_meta.json b/inverse_hard/run_20260427_001012__traj_000154_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..912cb6527d75a033e4f154624c475e1223507725 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000154_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 154, + "episode_id": 0, + "state_id": 34, + "sample_index": 34, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + -220.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_forward", + "move_forward", + "turn_left", + "move_forward", + "move_forward", + "move_backward", + "move_backward", + "turn_right", + "move_backward", + "move_backward", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3040.7107, + -90.7107, + 850.0 + ], + "actual_end_pos": [ + -3040.7107, + -90.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3040.7107, + -90.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3111.4213, + -161.4214, + 850.0 + ], + "actual_end_pos": [ + -3111.4213, + -161.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3111.4213, + -161.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3182.132, + -232.132, + 850.0 + ], + "actual_end_pos": [ + -3182.132, + -232.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3182.132, + -232.132, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3252.8427, + -302.8427, + 850.0 + ], + "actual_end_pos": [ + -3252.8427, + -302.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3252.8427, + -302.8427, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3252.8427, + -302.8427, + 850.0 + ], + "actual_end_pos": [ + -3252.8427, + -302.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3252.8427, + -302.8427, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3339.4452, + -252.8427, + 850.0 + ], + "actual_end_pos": [ + -3339.4452, + -252.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3339.4452, + -252.8427, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3426.0478, + -202.8427, + 850.0 + ], + "actual_end_pos": [ + -3426.0478, + -202.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3426.0478, + -202.8427, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3426.0478, + -202.8427, + 850.0 + ], + "actual_end_pos": [ + -3426.0478, + -202.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3426.0478, + -202.8427, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3496.7585, + -132.132, + 850.0 + ], + "actual_end_pos": [ + -3496.7585, + -132.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3496.7585, + -132.132, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3567.4691, + -61.4213, + 850.0 + ], + "actual_end_pos": [ + -3567.4691, + -61.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3567.4691, + -61.4213, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3496.7585, + -132.132, + 850.0 + ], + "actual_end_pos": [ + -3496.7585, + -132.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3496.7585, + -132.132, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3426.0478, + -202.8427, + 850.0 + ], + "actual_end_pos": [ + -3426.0478, + -202.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3426.0478, + -202.8427, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3426.0478, + -202.8427, + 850.0 + ], + "actual_end_pos": [ + -3426.0478, + -202.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3426.0478, + -202.8427, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3339.4452, + -252.8427, + 850.0 + ], + "actual_end_pos": [ + -3339.4452, + -252.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3339.4452, + -252.8427, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3252.8427, + -302.8427, + 850.0 + ], + "actual_end_pos": [ + -3252.8427, + -302.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3252.8427, + -302.8427, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3252.8427, + -302.8427, + 850.0 + ], + "actual_end_pos": [ + -3252.8427, + -302.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3252.8427, + -302.8427, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3182.132, + -232.132, + 850.0 + ], + "actual_end_pos": [ + -3182.132, + -232.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3182.132, + -232.132, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3111.4213, + -161.4214, + 850.0 + ], + "actual_end_pos": [ + -3111.4213, + -161.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3111.4213, + -161.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3040.7107, + -90.7107, + 850.0 + ], + "actual_end_pos": [ + -3040.7107, + -90.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3040.7107, + -90.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000158_meta.json b/inverse_hard/run_20260427_001012__traj_000158_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5cc9fa62053488cc7dad0bfb9232251dfd80ce46 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000158_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 158, + "episode_id": 0, + "state_id": 35, + "sample_index": 35, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + -220.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3020.0, + -6.6025, + 850.0 + ], + "actual_end_pos": [ + -3020.0, + -6.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3020.0, + -6.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -93.2051, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -93.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3070.0, + -93.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + -179.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + -179.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3120.0, + -179.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + -266.4102, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + -266.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3170.0, + -266.4102, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + -266.4102, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + -266.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3170.0, + -266.4102, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + -266.4102, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + -266.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3170.0, + -266.4102, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + -266.4102, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + -266.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3170.0, + -266.4102, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + -266.4102, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + -266.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3170.0, + -266.4102, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + -266.4102, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + -266.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3170.0, + -266.4102, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + -266.4102, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + -266.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3170.0, + -266.4102, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + -179.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + -179.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3120.0, + -179.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -93.2051, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -93.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3070.0, + -93.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3020.0, + -6.6025, + 850.0 + ], + "actual_end_pos": [ + -3020.0, + -6.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3020.0, + -6.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000166_meta.json b/inverse_hard/run_20260427_001012__traj_000166_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d52c2a1f92cf9924daacfad467c4ff1357fc8b7e --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000166_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 166, + "episode_id": 0, + "state_id": 37, + "sample_index": 37, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 1380.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3070.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3240.7107, + 1309.2893, + 850.0 + ], + "actual_end_pos": [ + -3240.7107, + 1309.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3240.7107, + 1309.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3311.4213, + 1238.5786, + 850.0 + ], + "actual_end_pos": [ + -3311.4213, + 1238.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3311.4213, + 1238.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3382.132, + 1167.868, + 850.0 + ], + "actual_end_pos": [ + -3382.132, + 1167.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3382.132, + 1167.868, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3452.8427, + 1097.1573, + 850.0 + ], + "actual_end_pos": [ + -3452.8427, + 1097.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3452.8427, + 1097.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3452.8427, + 1097.1573, + 850.0 + ], + "actual_end_pos": [ + -3452.8427, + 1097.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3452.8427, + 1097.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3452.8427, + 1097.1573, + 850.0 + ], + "actual_end_pos": [ + -3452.8427, + 1097.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3452.8427, + 1097.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3382.132, + 1167.868, + 850.0 + ], + "actual_end_pos": [ + -3382.132, + 1167.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3382.132, + 1167.868, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3311.4213, + 1238.5786, + 850.0 + ], + "actual_end_pos": [ + -3311.4213, + 1238.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3311.4213, + 1238.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3240.7107, + 1309.2893, + 850.0 + ], + "actual_end_pos": [ + -3240.7107, + 1309.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3240.7107, + 1309.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3070.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000173_meta.json b/inverse_hard/run_20260427_001012__traj_000173_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8e744daa8e110eb03a5f286b1ce1a8d9eb220e44 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000173_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 173, + "episode_id": 0, + "state_id": 38, + "sample_index": 38, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 1380.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2969.9999, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1580.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2969.9999, + 1580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1680.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2969.9999, + 1680.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1680.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2969.9999, + 1680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1680.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2969.9999, + 1680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3056.6025, + 1630.0, + 850.0 + ], + "actual_end_pos": [ + -3056.6025, + 1630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3056.6025, + 1630.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3143.205, + 1580.0, + 850.0 + ], + "actual_end_pos": [ + -3143.205, + 1580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3143.205, + 1580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3229.8076, + 1530.0, + 850.0 + ], + "actual_end_pos": [ + -3229.8076, + 1530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3229.8076, + 1530.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3342.292, + 1383.4074, + 850.0 + ], + "actual_end_pos": [ + -3342.292, + 1383.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3342.292, + 1383.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3368.1739, + 1286.8148, + 850.0 + ], + "actual_end_pos": [ + -3368.1739, + 1286.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3368.1739, + 1286.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3394.0558, + 1190.2222, + 850.0 + ], + "actual_end_pos": [ + -3394.0558, + 1190.2222, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3394.0558, + 1190.2222, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3419.9377, + 1093.6296, + 850.0 + ], + "actual_end_pos": [ + -3419.9377, + 1093.6296, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3419.9377, + 1093.6296, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3394.0558, + 1190.2222, + 850.0 + ], + "actual_end_pos": [ + -3394.0558, + 1190.2222, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3394.0558, + 1190.2222, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3368.1739, + 1286.8148, + 850.0 + ], + "actual_end_pos": [ + -3368.1739, + 1286.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3368.1739, + 1286.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3342.292, + 1383.4074, + 850.0 + ], + "actual_end_pos": [ + -3342.292, + 1383.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3342.292, + 1383.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3316.4101, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3229.8076, + 1530.0, + 850.0 + ], + "actual_end_pos": [ + -3229.8076, + 1530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3229.8076, + 1530.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3143.205, + 1580.0, + 850.0 + ], + "actual_end_pos": [ + -3143.205, + 1580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3143.205, + 1580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3056.6025, + 1630.0, + 850.0 + ], + "actual_end_pos": [ + -3056.6025, + 1630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3056.6025, + 1630.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1680.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2969.9999, + 1680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1680.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2969.9999, + 1680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1680.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2969.9999, + 1680.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1580.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2969.9999, + 1580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2969.9999, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000178_meta.json b/inverse_hard/run_20260427_001012__traj_000178_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8d8e1375386027aacb7ee4314f57d7c132253b79 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000178_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 178, + "episode_id": 0, + "state_id": 39, + "sample_index": 39, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 1380.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_left", + "move_left", + "turn_left", + "turn_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1280.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2969.9999, + 1280.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2969.9999, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2969.9999, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2969.9999, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2919.9999, + 1266.6025, + 850.0 + ], + "actual_end_pos": [ + -2919.9999, + 1266.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2919.9999, + 1266.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2869.9999, + 1353.2051, + 850.0 + ], + "actual_end_pos": [ + -2869.9999, + 1353.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2869.9999, + 1353.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2819.9999, + 1439.8076, + 850.0 + ], + "actual_end_pos": [ + -2819.9999, + 1439.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2819.9999, + 1439.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2819.9999, + 1439.8076, + 850.0 + ], + "actual_end_pos": [ + -2819.9999, + 1439.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2819.9999, + 1439.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2819.9999, + 1439.8076, + 850.0 + ], + "actual_end_pos": [ + -2819.9999, + 1439.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2819.9999, + 1439.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2869.9999, + 1526.4102, + 850.0 + ], + "actual_end_pos": [ + -2869.9999, + 1526.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2869.9999, + 1526.4102, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2919.9999, + 1613.0127, + 850.0 + ], + "actual_end_pos": [ + -2919.9999, + 1613.0127, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2919.9999, + 1613.0127, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2919.9999, + 1613.0127, + 850.0 + ], + "actual_end_pos": [ + -2919.9999, + 1613.0127, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2919.9999, + 1613.0127, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2919.9999, + 1613.0127, + 850.0 + ], + "actual_end_pos": [ + -2919.9999, + 1613.0127, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2919.9999, + 1613.0127, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2869.9999, + 1526.4102, + 850.0 + ], + "actual_end_pos": [ + -2869.9999, + 1526.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2869.9999, + 1526.4102, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2819.9999, + 1439.8076, + 850.0 + ], + "actual_end_pos": [ + -2819.9999, + 1439.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2819.9999, + 1439.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2819.9999, + 1439.8076, + 850.0 + ], + "actual_end_pos": [ + -2819.9999, + 1439.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2819.9999, + 1439.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2819.9999, + 1439.8076, + 850.0 + ], + "actual_end_pos": [ + -2819.9999, + 1439.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2819.9999, + 1439.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2869.9999, + 1353.2051, + 850.0 + ], + "actual_end_pos": [ + -2869.9999, + 1353.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2869.9999, + 1353.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2919.9999, + 1266.6025, + 850.0 + ], + "actual_end_pos": [ + -2919.9999, + 1266.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2919.9999, + 1266.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2969.9999, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2969.9999, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2969.9999, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1280.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2969.9999, + 1280.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000180_meta.json b/inverse_hard/run_20260427_001012__traj_000180_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..66f849e74de62190b0338b68f0ebc7cf51d99e3b --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000180_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 180, + "episode_id": 0, + "state_id": 39, + "sample_index": 39, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 1380.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3069.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3069.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3069.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3169.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3169.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3169.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3199.2893, + 1450.7107, + 850.0 + ], + "actual_end_pos": [ + -3199.2893, + 1450.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3199.2893, + 1450.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3128.5786, + 1521.4214, + 850.0 + ], + "actual_end_pos": [ + -3128.5786, + 1521.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3128.5786, + 1521.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3057.8679, + 1592.132, + 850.0 + ], + "actual_end_pos": [ + -3057.8679, + 1592.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3057.8679, + 1592.132, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2987.1572, + 1662.8427, + 850.0 + ], + "actual_end_pos": [ + -2987.1572, + 1662.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2987.1572, + 1662.8427, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2987.1572, + 1662.8427, + 850.0 + ], + "actual_end_pos": [ + -2987.1572, + 1662.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2987.1572, + 1662.8427, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2900.5547, + 1712.8427, + 850.0 + ], + "actual_end_pos": [ + -2900.5547, + 1712.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2900.5547, + 1712.8427, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2813.9521, + 1762.8427, + 850.0 + ], + "actual_end_pos": [ + -2813.9521, + 1762.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2813.9521, + 1762.8427, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2727.3496, + 1812.8427, + 850.0 + ], + "actual_end_pos": [ + -2727.3496, + 1812.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2727.3496, + 1812.8427, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2813.9521, + 1762.8427, + 850.0 + ], + "actual_end_pos": [ + -2813.9521, + 1762.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2813.9521, + 1762.8427, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2900.5547, + 1712.8427, + 850.0 + ], + "actual_end_pos": [ + -2900.5547, + 1712.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2900.5547, + 1712.8427, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2987.1572, + 1662.8427, + 850.0 + ], + "actual_end_pos": [ + -2987.1572, + 1662.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2987.1572, + 1662.8427, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2987.1572, + 1662.8427, + 850.0 + ], + "actual_end_pos": [ + -2987.1572, + 1662.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2987.1572, + 1662.8427, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3057.8679, + 1592.132, + 850.0 + ], + "actual_end_pos": [ + -3057.8679, + 1592.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3057.8679, + 1592.132, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3128.5786, + 1521.4214, + 850.0 + ], + "actual_end_pos": [ + -3128.5786, + 1521.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3128.5786, + 1521.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3199.2893, + 1450.7107, + 850.0 + ], + "actual_end_pos": [ + -3199.2893, + 1450.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3199.2893, + 1450.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3269.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3169.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3169.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3169.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3069.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -3069.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3069.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2969.9999, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000183_meta.json b/inverse_hard/run_20260427_001012__traj_000183_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..23c0a4dd69d7de8d5499860daee37455971330cd --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000183_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 183, + "episode_id": 0, + "state_id": 40, + "sample_index": 40, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 1780.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_right", + "turn_right", + "move_left", + "move_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2670.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2670.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2670.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2720.0, + 1693.3975, + 850.0 + ], + "actual_end_pos": [ + -2720.0, + 1693.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2720.0, + 1693.3975, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 1606.7949, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 1606.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2770.0, + 1606.7949, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2820.0, + 1520.1924, + 850.0 + ], + "actual_end_pos": [ + -2820.0, + 1520.1924, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2820.0, + 1520.1924, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 1433.5898, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 1433.5898, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2870.0, + 1433.5898, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 1433.5898, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 1433.5898, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2870.0, + 1433.5898, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2844.1181, + 1530.1824, + 850.0 + ], + "actual_end_pos": [ + -2844.1181, + 1530.1824, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2844.1181, + 1530.1824, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2818.2362, + 1626.775, + 850.0 + ], + "actual_end_pos": [ + -2818.2362, + 1626.775, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2818.2362, + 1626.775, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2818.2362, + 1626.775, + 850.0 + ], + "actual_end_pos": [ + -2818.2362, + 1626.775, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2818.2362, + 1626.775, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2818.2362, + 1626.775, + 850.0 + ], + "actual_end_pos": [ + -2818.2362, + 1626.775, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2818.2362, + 1626.775, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2818.2362, + 1626.775, + 850.0 + ], + "actual_end_pos": [ + -2818.2362, + 1626.775, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2818.2362, + 1626.775, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2818.2362, + 1626.775, + 850.0 + ], + "actual_end_pos": [ + -2818.2362, + 1626.775, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2818.2362, + 1626.775, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2844.1181, + 1530.1824, + 850.0 + ], + "actual_end_pos": [ + -2844.1181, + 1530.1824, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2844.1181, + 1530.1824, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 1433.5898, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 1433.5898, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2870.0, + 1433.5898, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 1433.5898, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 1433.5898, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2870.0, + 1433.5898, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2820.0, + 1520.1924, + 850.0 + ], + "actual_end_pos": [ + -2820.0, + 1520.1924, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2820.0, + 1520.1924, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 1606.7949, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 1606.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2770.0, + 1606.7949, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2720.0, + 1693.3975, + 850.0 + ], + "actual_end_pos": [ + -2720.0, + 1693.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2720.0, + 1693.3975, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2670.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2670.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2670.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000184_meta.json b/inverse_hard/run_20260427_001012__traj_000184_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5168fdce317a275aaa801cdc180b54bb6990dcca --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000184_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 184, + "episode_id": 0, + "state_id": 40, + "sample_index": 40, + "trajectory_index_at_point": 3, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 1780.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3056.6025, + 1530.0, + 850.0 + ], + "actual_end_pos": [ + -3056.6025, + 1530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3056.6025, + 1530.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3143.2051, + 1580.0, + 850.0 + ], + "actual_end_pos": [ + -3143.2051, + 1580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3143.2051, + 1580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3229.8076, + 1630.0, + 850.0 + ], + "actual_end_pos": [ + -3229.8076, + 1630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3229.8076, + 1630.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3316.4102, + 1680.0, + 850.0 + ], + "actual_end_pos": [ + -3316.4102, + 1680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3316.4102, + 1680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3316.4102, + 1680.0, + 850.0 + ], + "actual_end_pos": [ + -3316.4102, + 1680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3316.4102, + 1680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3316.4102, + 1680.0, + 850.0 + ], + "actual_end_pos": [ + -3316.4102, + 1680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3316.4102, + 1680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3229.8076, + 1630.0, + 850.0 + ], + "actual_end_pos": [ + -3229.8076, + 1630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3229.8076, + 1630.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3143.2051, + 1580.0, + 850.0 + ], + "actual_end_pos": [ + -3143.2051, + 1580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3143.2051, + 1580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3056.6025, + 1530.0, + 850.0 + ], + "actual_end_pos": [ + -3056.6025, + 1530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3056.6025, + 1530.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000185_meta.json b/inverse_hard/run_20260427_001012__traj_000185_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..54ceda11e89318fe22c29b8b8c8b8648523e7afd --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000185_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 185, + "episode_id": 0, + "state_id": 40, + "sample_index": 40, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 1780.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2873.4074, + 2205.8819, + 850.0 + ], + "actual_end_pos": [ + -2873.4074, + 2205.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2873.4074, + 2205.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "actual_end_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "actual_end_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "actual_end_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "actual_end_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2690.2123, + 2181.7638, + 850.0 + ], + "actual_end_pos": [ + -2690.2123, + 2181.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2690.2123, + 2181.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2603.6098, + 2131.7638, + 850.0 + ], + "actual_end_pos": [ + -2603.6098, + 2131.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2603.6098, + 2131.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2690.2123, + 2181.7638, + 850.0 + ], + "actual_end_pos": [ + -2690.2123, + 2181.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2690.2123, + 2181.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "actual_end_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "actual_end_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "actual_end_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "actual_end_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2776.8148, + 2231.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2873.4074, + 2205.8819, + 850.0 + ], + "actual_end_pos": [ + -2873.4074, + 2205.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2873.4074, + 2205.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000188_meta.json b/inverse_hard/run_20260427_001012__traj_000188_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0687825b1b56ac57582390a28f61af7e88ddfbda --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000188_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 188, + "episode_id": 0, + "state_id": 41, + "sample_index": 41, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 1780.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3020.0, + 1893.3975, + 850.0 + ], + "actual_end_pos": [ + -3020.0, + 1893.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3020.0, + 1893.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 1806.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 1806.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3070.0, + 1806.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + 1720.1924, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + 1720.1924, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3120.0, + 1720.1924, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + 1720.1924, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + 1720.1924, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3120.0, + 1720.1924, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3049.2893, + 1649.4817, + 850.0 + ], + "actual_end_pos": [ + -3049.2893, + 1649.4817, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3049.2893, + 1649.4817, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2978.5786, + 1578.771, + 850.0 + ], + "actual_end_pos": [ + -2978.5786, + 1578.771, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2978.5786, + 1578.771, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2907.868, + 1508.0603, + 850.0 + ], + "actual_end_pos": [ + -2907.868, + 1508.0603, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2907.868, + 1508.0603, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2837.1573, + 1437.3497, + 850.0 + ], + "actual_end_pos": [ + -2837.1573, + 1437.3497, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2837.1573, + 1437.3497, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2837.1573, + 1437.3497, + 850.0 + ], + "actual_end_pos": [ + -2837.1573, + 1437.3497, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2837.1573, + 1437.3497, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2837.1573, + 1437.3497, + 850.0 + ], + "actual_end_pos": [ + -2837.1573, + 1437.3497, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2837.1573, + 1437.3497, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2863.0392, + 1340.7571, + 850.0 + ], + "actual_end_pos": [ + -2863.0392, + 1340.7571, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2863.0392, + 1340.7571, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2888.9211, + 1244.1645, + 850.0 + ], + "actual_end_pos": [ + -2888.9211, + 1244.1645, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2888.9211, + 1244.1645, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2863.0392, + 1340.7571, + 850.0 + ], + "actual_end_pos": [ + -2863.0392, + 1340.7571, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2863.0392, + 1340.7571, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2837.1573, + 1437.3497, + 850.0 + ], + "actual_end_pos": [ + -2837.1573, + 1437.3497, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2837.1573, + 1437.3497, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2837.1573, + 1437.3497, + 850.0 + ], + "actual_end_pos": [ + -2837.1573, + 1437.3497, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2837.1573, + 1437.3497, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2837.1573, + 1437.3497, + 850.0 + ], + "actual_end_pos": [ + -2837.1573, + 1437.3497, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2837.1573, + 1437.3497, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2907.868, + 1508.0603, + 850.0 + ], + "actual_end_pos": [ + -2907.868, + 1508.0603, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2907.868, + 1508.0603, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2978.5786, + 1578.771, + 850.0 + ], + "actual_end_pos": [ + -2978.5786, + 1578.771, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2978.5786, + 1578.771, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3049.2893, + 1649.4817, + 850.0 + ], + "actual_end_pos": [ + -3049.2893, + 1649.4817, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3049.2893, + 1649.4817, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + 1720.1924, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + 1720.1924, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3120.0, + 1720.1924, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + 1720.1924, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + 1720.1924, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3120.0, + 1720.1924, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 1806.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 1806.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3070.0, + 1806.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3020.0, + 1893.3975, + 850.0 + ], + "actual_end_pos": [ + -3020.0, + 1893.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3020.0, + 1893.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000189_meta.json b/inverse_hard/run_20260427_001012__traj_000189_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e9936758e59d8263537587c9566799fdc589e896 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000189_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 189, + "episode_id": 0, + "state_id": 41, + "sample_index": 41, + "trajectory_index_at_point": 3, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 1780.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2820.0, + 1693.3975, + 850.0 + ], + "actual_end_pos": [ + -2820.0, + 1693.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2820.0, + 1693.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 1606.7949, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 1606.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2870.0, + 1606.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2920.0, + 1520.1924, + 850.0 + ], + "actual_end_pos": [ + -2920.0, + 1520.1924, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2920.0, + 1520.1924, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2995.8819, + 1530.1824, + 850.0 + ], + "actual_end_pos": [ + -2995.8819, + 1530.1824, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2995.8819, + 1530.1824, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + 1433.5898, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2920.0, + 1520.1924, + 850.0 + ], + "actual_end_pos": [ + -2920.0, + 1520.1924, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2920.0, + 1520.1924, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 1606.7949, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 1606.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2870.0, + 1606.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2820.0, + 1693.3975, + 850.0 + ], + "actual_end_pos": [ + -2820.0, + 1693.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2820.0, + 1693.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2770.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000190_meta.json b/inverse_hard/run_20260427_001012__traj_000190_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7aae75140dd6dd395f21d0c1a4f4878ff3fb848d --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000190_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 190, + "episode_id": 0, + "state_id": 41, + "sample_index": 41, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 1780.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_left", + "turn_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3020.0, + 1993.3975, + 850.0 + ], + "actual_end_pos": [ + -3020.0, + 1993.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3020.0, + 1993.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3095.8819, + 2003.3875, + 850.0 + ], + "actual_end_pos": [ + -3095.8819, + 2003.3875, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3095.8819, + 2003.3875, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3121.7638, + 2099.9801, + 850.0 + ], + "actual_end_pos": [ + -3121.7638, + 2099.9801, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3121.7638, + 2099.9801, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3121.7638, + 2099.9801, + 850.0 + ], + "actual_end_pos": [ + -3121.7638, + 2099.9801, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3121.7638, + 2099.9801, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3121.7638, + 2099.9801, + 850.0 + ], + "actual_end_pos": [ + -3121.7638, + 2099.9801, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3121.7638, + 2099.9801, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3121.7638, + 2099.9801, + 850.0 + ], + "actual_end_pos": [ + -3121.7638, + 2099.9801, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3121.7638, + 2099.9801, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3121.7638, + 2099.9801, + 850.0 + ], + "actual_end_pos": [ + -3121.7638, + 2099.9801, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3121.7638, + 2099.9801, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3095.8819, + 2003.3875, + 850.0 + ], + "actual_end_pos": [ + -3095.8819, + 2003.3875, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3095.8819, + 2003.3875, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3070.0, + 1906.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3020.0, + 1993.3975, + 850.0 + ], + "actual_end_pos": [ + -3020.0, + 1993.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3020.0, + 1993.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000192_meta.json b/inverse_hard/run_20260427_001012__traj_000192_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7aa756bcda70996089b9c8a56fef22af409018c4 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000192_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 192, + "episode_id": 0, + "state_id": 42, + "sample_index": 42, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 1780.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "turn_right", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2995.8819, + 1476.5926, + 850.0 + ], + "actual_end_pos": [ + -2995.8819, + 1476.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2995.8819, + 1476.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3021.7638, + 1573.1852, + 850.0 + ], + "actual_end_pos": [ + -3021.7638, + 1573.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3021.7638, + 1573.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "actual_end_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "actual_end_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "actual_end_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "actual_end_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2997.6457, + 1756.3803, + 850.0 + ], + "actual_end_pos": [ + -2997.6457, + 1756.3803, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2997.6457, + 1756.3803, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2947.6457, + 1842.9828, + 850.0 + ], + "actual_end_pos": [ + -2947.6457, + 1842.9828, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2947.6457, + 1842.9828, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2947.6457, + 1842.9828, + 850.0 + ], + "actual_end_pos": [ + -2947.6457, + 1842.9828, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2947.6457, + 1842.9828, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2947.6457, + 1842.9828, + 850.0 + ], + "actual_end_pos": [ + -2947.6457, + 1842.9828, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2947.6457, + 1842.9828, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2997.6457, + 1756.3803, + 850.0 + ], + "actual_end_pos": [ + -2997.6457, + 1756.3803, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2997.6457, + 1756.3803, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "actual_end_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "actual_end_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "actual_end_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "actual_end_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3047.6457, + 1669.7778, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3021.7638, + 1573.1852, + 850.0 + ], + "actual_end_pos": [ + -3021.7638, + 1573.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3021.7638, + 1573.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2995.8819, + 1476.5926, + 850.0 + ], + "actual_end_pos": [ + -2995.8819, + 1476.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2995.8819, + 1476.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000193_meta.json b/inverse_hard/run_20260427_001012__traj_000193_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a28e3abc13e9126b9f030bdcebd6faf577e46b18 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000193_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 193, + "episode_id": 0, + "state_id": 42, + "sample_index": 42, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 1780.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2883.3975, + 1330.0, + 850.0 + ], + "actual_end_pos": [ + -2883.3975, + 1330.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2883.3975, + 1330.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2796.7949, + 1280.0, + 850.0 + ], + "actual_end_pos": [ + -2796.7949, + 1280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2796.7949, + 1280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2710.1924, + 1230.0, + 850.0 + ], + "actual_end_pos": [ + -2710.1924, + 1230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2710.1924, + 1230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2623.5898, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2623.5898, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2623.5898, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2623.5898, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2623.5898, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2623.5898, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2623.5898, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2623.5898, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2623.5898, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2623.5898, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2623.5898, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2623.5898, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2623.5898, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2623.5898, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2623.5898, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2623.5898, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2623.5898, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2623.5898, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2623.5898, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2623.5898, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2623.5898, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2710.1924, + 1230.0, + 850.0 + ], + "actual_end_pos": [ + -2710.1924, + 1230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2710.1924, + 1230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2796.7949, + 1280.0, + 850.0 + ], + "actual_end_pos": [ + -2796.7949, + 1280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2796.7949, + 1280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2883.3975, + 1330.0, + 850.0 + ], + "actual_end_pos": [ + -2883.3975, + 1330.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2883.3975, + 1330.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000200_meta.json b/inverse_hard/run_20260427_001012__traj_000200_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..607aa3c29bbd98d45ff95ace200bee15549e3543 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000200_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 200, + "episode_id": 0, + "state_id": 43, + "sample_index": 43, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 1780.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3020.0, + 1566.6026, + 850.0 + ], + "actual_end_pos": [ + -3020.0, + 1566.6026, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3020.0, + 1566.6026, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 1653.2051, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 1653.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3070.0, + 1653.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + 1739.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + 1739.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3120.0, + 1739.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + 1739.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + 1739.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3120.0, + 1739.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + 1739.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + 1739.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3120.0, + 1739.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + 1739.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + 1739.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3120.0, + 1739.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + 1739.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + 1739.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3120.0, + 1739.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 1653.2051, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 1653.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3070.0, + 1653.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3020.0, + 1566.6026, + 850.0 + ], + "actual_end_pos": [ + -3020.0, + 1566.6026, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3020.0, + 1566.6026, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 1480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 1580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 1680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000201_meta.json b/inverse_hard/run_20260427_001012__traj_000201_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a8615b52dfa5823dcb0ea21b2c76db038e8dcb0f --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000201_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 201, + "episode_id": 0, + "state_id": 44, + "sample_index": 44, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 2180.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3440.7107, + 2109.2893, + 850.0 + ], + "actual_end_pos": [ + -3440.7107, + 2109.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3440.7107, + 2109.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3511.4214, + 2038.5786, + 850.0 + ], + "actual_end_pos": [ + -3511.4214, + 2038.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3511.4214, + 2038.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3582.132, + 1967.868, + 850.0 + ], + "actual_end_pos": [ + -3582.132, + 1967.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3582.132, + 1967.868, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3582.132, + 1967.868, + 850.0 + ], + "actual_end_pos": [ + -3582.132, + 1967.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3582.132, + 1967.868, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3495.5295, + 2017.868, + 850.0 + ], + "actual_end_pos": [ + -3495.5295, + 2017.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3495.5295, + 2017.868, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3408.927, + 2067.868, + 850.0 + ], + "actual_end_pos": [ + -3408.927, + 2067.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3408.927, + 2067.868, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3322.3244, + 2117.868, + 850.0 + ], + "actual_end_pos": [ + -3322.3244, + 2117.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3322.3244, + 2117.868, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3322.3244, + 2117.868, + 850.0 + ], + "actual_end_pos": [ + -3322.3244, + 2117.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3322.3244, + 2117.868, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3322.3244, + 2117.868, + 850.0 + ], + "actual_end_pos": [ + -3322.3244, + 2117.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3322.3244, + 2117.868, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3408.927, + 2067.868, + 850.0 + ], + "actual_end_pos": [ + -3408.927, + 2067.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3408.927, + 2067.868, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3495.5295, + 2017.868, + 850.0 + ], + "actual_end_pos": [ + -3495.5295, + 2017.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3495.5295, + 2017.868, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3582.132, + 1967.868, + 850.0 + ], + "actual_end_pos": [ + -3582.132, + 1967.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3582.132, + 1967.868, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3582.132, + 1967.868, + 850.0 + ], + "actual_end_pos": [ + -3582.132, + 1967.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3582.132, + 1967.868, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3511.4214, + 2038.5786, + 850.0 + ], + "actual_end_pos": [ + -3511.4214, + 2038.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3511.4214, + 2038.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3440.7107, + 2109.2893, + 850.0 + ], + "actual_end_pos": [ + -3440.7107, + 2109.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3440.7107, + 2109.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000208_meta.json b/inverse_hard/run_20260427_001012__traj_000208_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a887745f5ac2468bda25cb2376c6b269d3313b6f --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000208_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 208, + "episode_id": 0, + "state_id": 45, + "sample_index": 45, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 2180.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3356.6025, + 2130.0, + 850.0 + ], + "actual_end_pos": [ + -3356.6025, + 2130.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3356.6025, + 2130.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3443.2051, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -3443.2051, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3443.2051, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3443.2051, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -3443.2051, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3443.2051, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3513.9157, + 2150.7107, + 850.0 + ], + "actual_end_pos": [ + -3513.9157, + 2150.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3513.9157, + 2150.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3584.6264, + 2221.4214, + 850.0 + ], + "actual_end_pos": [ + -3584.6264, + 2221.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3584.6264, + 2221.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3655.3371, + 2292.1321, + 850.0 + ], + "actual_end_pos": [ + -3655.3371, + 2292.1321, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3655.3371, + 2292.1321, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3655.3371, + 2292.1321, + 850.0 + ], + "actual_end_pos": [ + -3655.3371, + 2292.1321, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3655.3371, + 2292.1321, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3655.3371, + 2292.1321, + 850.0 + ], + "actual_end_pos": [ + -3655.3371, + 2292.1321, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3655.3371, + 2292.1321, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3584.6264, + 2221.4214, + 850.0 + ], + "actual_end_pos": [ + -3584.6264, + 2221.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3584.6264, + 2221.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3513.9157, + 2150.7107, + 850.0 + ], + "actual_end_pos": [ + -3513.9157, + 2150.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3513.9157, + 2150.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3443.2051, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -3443.2051, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3443.2051, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3443.2051, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -3443.2051, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3443.2051, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3356.6025, + 2130.0, + 850.0 + ], + "actual_end_pos": [ + -3356.6025, + 2130.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3356.6025, + 2130.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000210_meta.json b/inverse_hard/run_20260427_001012__traj_000210_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8b2ca4b132c35a033e82c5dfbd65c503989bd0a2 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000210_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 210, + "episode_id": 0, + "state_id": 45, + "sample_index": 45, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 2180.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2920.0, + 1893.3975, + 850.0 + ], + "actual_end_pos": [ + -2920.0, + 1893.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2920.0, + 1893.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2895.8819, + 1710.2023, + 850.0 + ], + "actual_end_pos": [ + -2895.8819, + 1710.2023, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2895.8819, + 1710.2023, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2870.0, + 1806.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2920.0, + 1893.3975, + 850.0 + ], + "actual_end_pos": [ + -2920.0, + 1893.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2920.0, + 1893.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000211_meta.json b/inverse_hard/run_20260427_001012__traj_000211_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..225db19ff6430279048c460658f20f3c983a9182 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000211_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 211, + "episode_id": 0, + "state_id": 46, + "sample_index": 46, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 2180.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "move_right", + "move_right", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_left", + "move_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3344.1181, + 2083.4074, + 850.0 + ], + "actual_end_pos": [ + -3344.1181, + 2083.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3344.1181, + 2083.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3318.2362, + 1986.8149, + 850.0 + ], + "actual_end_pos": [ + -3318.2362, + 1986.8149, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3318.2362, + 1986.8149, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3318.2362, + 1986.8149, + 850.0 + ], + "actual_end_pos": [ + -3318.2362, + 1986.8149, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3318.2362, + 1986.8149, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3318.2362, + 2086.8149, + 850.0 + ], + "actual_end_pos": [ + -3318.2362, + 2086.8149, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3318.2362, + 2086.8149, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3318.2362, + 2186.8149, + 850.0 + ], + "actual_end_pos": [ + -3318.2362, + 2186.8149, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3318.2362, + 2186.8149, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3318.2362, + 2286.8149, + 850.0 + ], + "actual_end_pos": [ + -3318.2362, + 2286.8149, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3318.2362, + 2286.8149, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3318.2362, + 2186.8149, + 850.0 + ], + "actual_end_pos": [ + -3318.2362, + 2186.8149, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3318.2362, + 2186.8149, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3318.2362, + 2086.8149, + 850.0 + ], + "actual_end_pos": [ + -3318.2362, + 2086.8149, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3318.2362, + 2086.8149, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3318.2362, + 1986.8149, + 850.0 + ], + "actual_end_pos": [ + -3318.2362, + 1986.8149, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3318.2362, + 1986.8149, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3318.2362, + 1986.8149, + 850.0 + ], + "actual_end_pos": [ + -3318.2362, + 1986.8149, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3318.2362, + 1986.8149, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3344.1181, + 2083.4074, + 850.0 + ], + "actual_end_pos": [ + -3344.1181, + 2083.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3344.1181, + 2083.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3370.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3270.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000212_meta.json b/inverse_hard/run_20260427_001012__traj_000212_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc33979d57717555a895b611e0f49d62beed0958 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000212_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 212, + "episode_id": 0, + "state_id": 46, + "sample_index": 46, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 2180.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "turn_left", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2280.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 2280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + 2380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 2380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2873.4074, + 2354.1181, + 850.0 + ], + "actual_end_pos": [ + -2873.4074, + 2354.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2873.4074, + 2354.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "actual_end_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "actual_end_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "actual_end_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "actual_end_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2726.8148, + 2241.6337, + 850.0 + ], + "actual_end_pos": [ + -2726.8148, + 2241.6337, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2726.8148, + 2241.6337, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2676.8148, + 2155.0311, + 850.0 + ], + "actual_end_pos": [ + -2676.8148, + 2155.0311, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2676.8148, + 2155.0311, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2726.8148, + 2241.6337, + 850.0 + ], + "actual_end_pos": [ + -2726.8148, + 2241.6337, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2726.8148, + 2241.6337, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "actual_end_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "actual_end_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "actual_end_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "actual_end_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2776.8148, + 2328.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2873.4074, + 2354.1181, + 850.0 + ], + "actual_end_pos": [ + -2873.4074, + 2354.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2873.4074, + 2354.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + 2380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2380.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 2380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2280.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 2280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000216_meta.json b/inverse_hard/run_20260427_001012__traj_000216_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..906569c6c56f9fdc454efa49c750f172a5e52c35 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000216_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 216, + "episode_id": 0, + "state_id": 47, + "sample_index": 47, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 2180.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "move_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2995.8819, + 1783.4074, + 850.0 + ], + "actual_end_pos": [ + -2995.8819, + 1783.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2995.8819, + 1783.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3021.7638, + 1686.8148, + 850.0 + ], + "actual_end_pos": [ + -3021.7638, + 1686.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3021.7638, + 1686.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3021.7638, + 1686.8148, + 850.0 + ], + "actual_end_pos": [ + -3021.7638, + 1686.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3021.7638, + 1686.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3021.7638, + 1686.8148, + 850.0 + ], + "actual_end_pos": [ + -3021.7638, + 1686.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3021.7638, + 1686.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3118.3564, + 1660.9329, + 850.0 + ], + "actual_end_pos": [ + -3118.3564, + 1660.9329, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3118.3564, + 1660.9329, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3214.949, + 1635.051, + 850.0 + ], + "actual_end_pos": [ + -3214.949, + 1635.051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3214.949, + 1635.051, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3311.5415, + 1609.1691, + 850.0 + ], + "actual_end_pos": [ + -3311.5415, + 1609.1691, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3311.5415, + 1609.1691, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3214.949, + 1635.051, + 850.0 + ], + "actual_end_pos": [ + -3214.949, + 1635.051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3214.949, + 1635.051, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3118.3564, + 1660.9329, + 850.0 + ], + "actual_end_pos": [ + -3118.3564, + 1660.9329, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3118.3564, + 1660.9329, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3021.7638, + 1686.8148, + 850.0 + ], + "actual_end_pos": [ + -3021.7638, + 1686.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3021.7638, + 1686.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3021.7638, + 1686.8148, + 850.0 + ], + "actual_end_pos": [ + -3021.7638, + 1686.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3021.7638, + 1686.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3021.7638, + 1686.8148, + 850.0 + ], + "actual_end_pos": [ + -3021.7638, + 1686.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3021.7638, + 1686.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2995.8819, + 1783.4074, + 850.0 + ], + "actual_end_pos": [ + -2995.8819, + 1783.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2995.8819, + 1783.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 1880.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000219_meta.json b/inverse_hard/run_20260427_001012__traj_000219_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..923c6edfa4af45b98117b34e01605f245571a7f9 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000219_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 219, + "episode_id": 0, + "state_id": 47, + "sample_index": 47, + "trajectory_index_at_point": 3, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 2180.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3073.4074, + 2154.1181, + 850.0 + ], + "actual_end_pos": [ + -3073.4074, + 2154.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3073.4074, + 2154.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2976.8148, + 2128.2362, + 850.0 + ], + "actual_end_pos": [ + -2976.8148, + 2128.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2976.8148, + 2128.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2880.2222, + 2102.3543, + 850.0 + ], + "actual_end_pos": [ + -2880.2222, + 2102.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2880.2222, + 2102.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2880.2222, + 2102.3543, + 850.0 + ], + "actual_end_pos": [ + -2880.2222, + 2102.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2880.2222, + 2102.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2880.2222, + 2102.3543, + 850.0 + ], + "actual_end_pos": [ + -2880.2222, + 2102.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2880.2222, + 2102.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2783.6297, + 2128.2362, + 850.0 + ], + "actual_end_pos": [ + -2783.6297, + 2128.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2783.6297, + 2128.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2687.0371, + 2154.1181, + 850.0 + ], + "actual_end_pos": [ + -2687.0371, + 2154.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2687.0371, + 2154.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2783.6297, + 2128.2362, + 850.0 + ], + "actual_end_pos": [ + -2783.6297, + 2128.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2783.6297, + 2128.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2880.2222, + 2102.3543, + 850.0 + ], + "actual_end_pos": [ + -2880.2222, + 2102.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2880.2222, + 2102.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2880.2222, + 2102.3543, + 850.0 + ], + "actual_end_pos": [ + -2880.2222, + 2102.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2880.2222, + 2102.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2880.2222, + 2102.3543, + 850.0 + ], + "actual_end_pos": [ + -2880.2222, + 2102.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2880.2222, + 2102.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2976.8148, + 2128.2362, + 850.0 + ], + "actual_end_pos": [ + -2976.8148, + 2128.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2976.8148, + 2128.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3073.4074, + 2154.1181, + 850.0 + ], + "actual_end_pos": [ + -3073.4074, + 2154.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3073.4074, + 2154.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3070.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000223_meta.json b/inverse_hard/run_20260427_001012__traj_000223_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..389985f9842f956fc7424ae7fce1413a66a48a96 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000223_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 223, + "episode_id": 0, + "state_id": 48, + "sample_index": 48, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 2580.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3070.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3170.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3356.6025, + 2630.0, + 850.0 + ], + "actual_end_pos": [ + -3356.6025, + 2630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3356.6025, + 2630.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3443.2051, + 2680.0, + 850.0 + ], + "actual_end_pos": [ + -3443.2051, + 2680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3443.2051, + 2680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3529.8076, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + -3529.8076, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3529.8076, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3616.4101, + 2780.0, + 850.0 + ], + "actual_end_pos": [ + -3616.4101, + 2780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3616.4101, + 2780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3616.4101, + 2780.0, + 850.0 + ], + "actual_end_pos": [ + -3616.4101, + 2780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3616.4101, + 2780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3616.4101, + 2780.0, + 850.0 + ], + "actual_end_pos": [ + -3616.4101, + 2780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3616.4101, + 2780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3616.4101, + 2780.0, + 850.0 + ], + "actual_end_pos": [ + -3616.4101, + 2780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3616.4101, + 2780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3616.4101, + 2780.0, + 850.0 + ], + "actual_end_pos": [ + -3616.4101, + 2780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3616.4101, + 2780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3529.8076, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + -3529.8076, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3529.8076, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3443.2051, + 2680.0, + 850.0 + ], + "actual_end_pos": [ + -3443.2051, + 2680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3443.2051, + 2680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3356.6025, + 2630.0, + 850.0 + ], + "actual_end_pos": [ + -3356.6025, + 2630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3356.6025, + 2630.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3170.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3070.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000228_meta.json b/inverse_hard/run_20260427_001012__traj_000228_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ab3571cf077ece5fafa76f3cb906643baf69aab2 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000228_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 228, + "episode_id": 0, + "state_id": 49, + "sample_index": 49, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 2580.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "move_forward", + "move_forward", + "move_backward", + "move_backward", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2740.7106, + 2650.7107, + 850.0 + ], + "actual_end_pos": [ + -2740.7106, + 2650.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2740.7106, + 2650.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2811.4213, + 2721.4213, + 850.0 + ], + "actual_end_pos": [ + -2811.4213, + 2721.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2811.4213, + 2721.4213, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2882.132, + 2792.132, + 850.0 + ], + "actual_end_pos": [ + -2882.132, + 2792.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2882.132, + 2792.132, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2882.132, + 2792.132, + 850.0 + ], + "actual_end_pos": [ + -2882.132, + 2792.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2882.132, + 2792.132, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2968.7345, + 2842.132, + 850.0 + ], + "actual_end_pos": [ + -2968.7345, + 2842.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2968.7345, + 2842.132, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3055.3371, + 2892.132, + 850.0 + ], + "actual_end_pos": [ + -3055.3371, + 2892.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3055.3371, + 2892.132, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2968.7345, + 2842.132, + 850.0 + ], + "actual_end_pos": [ + -2968.7345, + 2842.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2968.7345, + 2842.132, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2882.132, + 2792.132, + 850.0 + ], + "actual_end_pos": [ + -2882.132, + 2792.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2882.132, + 2792.132, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2882.132, + 2792.132, + 850.0 + ], + "actual_end_pos": [ + -2882.132, + 2792.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2882.132, + 2792.132, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2811.4213, + 2721.4213, + 850.0 + ], + "actual_end_pos": [ + -2811.4213, + 2721.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2811.4213, + 2721.4213, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2740.7106, + 2650.7107, + 850.0 + ], + "actual_end_pos": [ + -2740.7106, + 2650.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2740.7106, + 2650.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000235_meta.json b/inverse_hard/run_20260427_001012__traj_000235_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3cea6ce244b94272484f9a2bc6db0ff55bea5698 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000235_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 235, + "episode_id": 0, + "state_id": 50, + "sample_index": 50, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 2580.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "move_forward", + "move_forward", + "move_backward", + "move_backward", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2699.2893, + 2650.7107, + 850.0 + ], + "actual_end_pos": [ + -2699.2893, + 2650.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2699.2893, + 2650.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2628.5786, + 2721.4214, + 850.0 + ], + "actual_end_pos": [ + -2628.5786, + 2721.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2628.5786, + 2721.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2628.5786, + 2721.4214, + 850.0 + ], + "actual_end_pos": [ + -2628.5786, + 2721.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2628.5786, + 2721.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2715.1812, + 2671.4214, + 850.0 + ], + "actual_end_pos": [ + -2715.1812, + 2671.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2715.1812, + 2671.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2801.7837, + 2621.4214, + 850.0 + ], + "actual_end_pos": [ + -2801.7837, + 2621.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2801.7837, + 2621.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2888.3863, + 2571.4214, + 850.0 + ], + "actual_end_pos": [ + -2888.3863, + 2571.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2888.3863, + 2571.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2974.9888, + 2521.4213, + 850.0 + ], + "actual_end_pos": [ + -2974.9888, + 2521.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2974.9888, + 2521.4213, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2974.9888, + 2521.4213, + 850.0 + ], + "actual_end_pos": [ + -2974.9888, + 2521.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2974.9888, + 2521.4213, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3071.5814, + 2495.5394, + 850.0 + ], + "actual_end_pos": [ + -3071.5814, + 2495.5394, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3071.5814, + 2495.5394, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3168.174, + 2469.6575, + 850.0 + ], + "actual_end_pos": [ + -3168.174, + 2469.6575, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3168.174, + 2469.6575, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3071.5814, + 2495.5394, + 850.0 + ], + "actual_end_pos": [ + -3071.5814, + 2495.5394, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3071.5814, + 2495.5394, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2974.9888, + 2521.4213, + 850.0 + ], + "actual_end_pos": [ + -2974.9888, + 2521.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2974.9888, + 2521.4213, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2974.9888, + 2521.4213, + 850.0 + ], + "actual_end_pos": [ + -2974.9888, + 2521.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2974.9888, + 2521.4213, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2888.3863, + 2571.4214, + 850.0 + ], + "actual_end_pos": [ + -2888.3863, + 2571.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2888.3863, + 2571.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2801.7837, + 2621.4214, + 850.0 + ], + "actual_end_pos": [ + -2801.7837, + 2621.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2801.7837, + 2621.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2715.1812, + 2671.4214, + 850.0 + ], + "actual_end_pos": [ + -2715.1812, + 2671.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2715.1812, + 2671.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2628.5786, + 2721.4214, + 850.0 + ], + "actual_end_pos": [ + -2628.5786, + 2721.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2628.5786, + 2721.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2628.5786, + 2721.4214, + 850.0 + ], + "actual_end_pos": [ + -2628.5786, + 2721.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2628.5786, + 2721.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2699.2893, + 2650.7107, + 850.0 + ], + "actual_end_pos": [ + -2699.2893, + 2650.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2699.2893, + 2650.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000237_meta.json b/inverse_hard/run_20260427_001012__traj_000237_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..871459c98787fe44a1ba63682b074a8d1458d477 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000237_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 237, + "episode_id": 0, + "state_id": 51, + "sample_index": 51, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 2580.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_left", + "turn_right", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_left", + "move_backward", + "move_backward", + "turn_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2644.1181, + 2483.4074, + 850.0 + ], + "actual_end_pos": [ + -2644.1181, + 2483.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2644.1181, + 2483.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2618.2362, + 2386.8148, + 850.0 + ], + "actual_end_pos": [ + -2618.2362, + 2386.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2618.2362, + 2386.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2618.2362, + 2386.8148, + 850.0 + ], + "actual_end_pos": [ + -2618.2362, + 2386.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2618.2362, + 2386.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2531.6336, + 2436.8148, + 850.0 + ], + "actual_end_pos": [ + -2531.6336, + 2436.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2531.6336, + 2436.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2445.0311, + 2486.8148, + 850.0 + ], + "actual_end_pos": [ + -2445.0311, + 2486.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2445.0311, + 2486.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2358.4286, + 2536.8148, + 850.0 + ], + "actual_end_pos": [ + -2358.4286, + 2536.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2358.4286, + 2536.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2271.826, + 2586.8148, + 850.0 + ], + "actual_end_pos": [ + -2271.826, + 2586.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2271.826, + 2586.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2271.826, + 2586.8148, + 850.0 + ], + "actual_end_pos": [ + -2271.826, + 2586.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2271.826, + 2586.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2271.826, + 2586.8148, + 850.0 + ], + "actual_end_pos": [ + -2271.826, + 2586.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2271.826, + 2586.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2358.4286, + 2536.8148, + 850.0 + ], + "actual_end_pos": [ + -2358.4286, + 2536.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2358.4286, + 2536.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2445.0311, + 2486.8148, + 850.0 + ], + "actual_end_pos": [ + -2445.0311, + 2486.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2445.0311, + 2486.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2531.6336, + 2436.8148, + 850.0 + ], + "actual_end_pos": [ + -2531.6336, + 2436.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2531.6336, + 2436.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2618.2362, + 2386.8148, + 850.0 + ], + "actual_end_pos": [ + -2618.2362, + 2386.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2618.2362, + 2386.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2618.2362, + 2386.8148, + 850.0 + ], + "actual_end_pos": [ + -2618.2362, + 2386.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2618.2362, + 2386.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2644.1181, + 2483.4074, + 850.0 + ], + "actual_end_pos": [ + -2644.1181, + 2483.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2644.1181, + 2483.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000238_meta.json b/inverse_hard/run_20260427_001012__traj_000238_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0aa32da0635c36910532ae0671b66fb2325fafd9 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000238_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 238, + "episode_id": 0, + "state_id": 51, + "sample_index": 51, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 2580.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "turn_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2866.5926, + 2554.1181, + 850.0 + ], + "actual_end_pos": [ + -2866.5926, + 2554.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2866.5926, + 2554.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2963.1852, + 2528.2362, + 850.0 + ], + "actual_end_pos": [ + -2963.1852, + 2528.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2963.1852, + 2528.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "actual_end_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "actual_end_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "actual_end_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "actual_end_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3009.7777, + 2588.9568, + 850.0 + ], + "actual_end_pos": [ + -3009.7777, + 2588.9568, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3009.7777, + 2588.9568, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2959.7777, + 2675.5594, + 850.0 + ], + "actual_end_pos": [ + -2959.7777, + 2675.5594, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2959.7777, + 2675.5594, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2909.7777, + 2762.1619, + 850.0 + ], + "actual_end_pos": [ + -2909.7777, + 2762.1619, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2909.7777, + 2762.1619, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2859.7777, + 2848.7645, + 850.0 + ], + "actual_end_pos": [ + -2859.7777, + 2848.7645, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2859.7777, + 2848.7645, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2859.7777, + 2848.7645, + 850.0 + ], + "actual_end_pos": [ + -2859.7777, + 2848.7645, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2859.7777, + 2848.7645, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2859.7777, + 2848.7645, + 850.0 + ], + "actual_end_pos": [ + -2859.7777, + 2848.7645, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2859.7777, + 2848.7645, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2859.7777, + 2848.7645, + 850.0 + ], + "actual_end_pos": [ + -2859.7777, + 2848.7645, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2859.7777, + 2848.7645, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2859.7777, + 2848.7645, + 850.0 + ], + "actual_end_pos": [ + -2859.7777, + 2848.7645, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2859.7777, + 2848.7645, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2909.7777, + 2762.1619, + 850.0 + ], + "actual_end_pos": [ + -2909.7777, + 2762.1619, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2909.7777, + 2762.1619, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2959.7777, + 2675.5594, + 850.0 + ], + "actual_end_pos": [ + -2959.7777, + 2675.5594, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2959.7777, + 2675.5594, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3009.7777, + 2588.9568, + 850.0 + ], + "actual_end_pos": [ + -3009.7777, + 2588.9568, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3009.7777, + 2588.9568, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "actual_end_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "actual_end_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "actual_end_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "actual_end_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3059.7777, + 2502.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2963.1852, + 2528.2362, + 850.0 + ], + "actual_end_pos": [ + -2963.1852, + 2528.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2963.1852, + 2528.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2866.5926, + 2554.1181, + 850.0 + ], + "actual_end_pos": [ + -2866.5926, + 2554.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2866.5926, + 2554.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2870.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000240_meta.json b/inverse_hard/run_20260427_001012__traj_000240_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cada7b35e7900847719126f20655185784b70124 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000240_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 240, + "episode_id": 0, + "state_id": 51, + "sample_index": 51, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2970.0, + 2580.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "move_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3070.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3170.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3370.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -3370.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3370.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3370.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -3370.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3370.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3466.5926, + 2605.8819, + 850.0 + ], + "actual_end_pos": [ + -3466.5926, + 2605.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3466.5926, + 2605.8819, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3563.1852, + 2631.7638, + 850.0 + ], + "actual_end_pos": [ + -3563.1852, + 2631.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3563.1852, + 2631.7638, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3659.7777, + 2657.6457, + 850.0 + ], + "actual_end_pos": [ + -3659.7777, + 2657.6457, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3659.7777, + 2657.6457, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3756.3703, + 2683.5276, + 850.0 + ], + "actual_end_pos": [ + -3756.3703, + 2683.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3756.3703, + 2683.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3756.3703, + 2683.5276, + 850.0 + ], + "actual_end_pos": [ + -3756.3703, + 2683.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3756.3703, + 2683.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3756.3703, + 2683.5276, + 850.0 + ], + "actual_end_pos": [ + -3756.3703, + 2683.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3756.3703, + 2683.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3756.3703, + 2683.5276, + 850.0 + ], + "actual_end_pos": [ + -3756.3703, + 2683.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3756.3703, + 2683.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3756.3703, + 2683.5276, + 850.0 + ], + "actual_end_pos": [ + -3756.3703, + 2683.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3756.3703, + 2683.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3659.7777, + 2657.6457, + 850.0 + ], + "actual_end_pos": [ + -3659.7777, + 2657.6457, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3659.7777, + 2657.6457, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3563.1852, + 2631.7638, + 850.0 + ], + "actual_end_pos": [ + -3563.1852, + 2631.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3563.1852, + 2631.7638, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3466.5926, + 2605.8819, + 850.0 + ], + "actual_end_pos": [ + -3466.5926, + 2605.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3466.5926, + 2605.8819, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3370.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -3370.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3370.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3370.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -3370.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3370.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3270.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3170.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -3170.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3170.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3070.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000243_meta.json b/inverse_hard/run_20260427_001012__traj_000243_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ad574b60553a0e4e120d3a5cff046396bc2136e1 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000243_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 243, + "episode_id": 0, + "state_id": 52, + "sample_index": 52, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -4220.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2340.7107, + -4290.7107, + 850.0 + ], + "actual_end_pos": [ + -2340.7107, + -4290.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2340.7107, + -4290.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "actual_end_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "actual_end_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "actual_end_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2385.5394, + -4458.014, + 850.0 + ], + "actual_end_pos": [ + -2385.5394, + -4458.014, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2385.5394, + -4458.014, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2359.6575, + -4554.6065, + 850.0 + ], + "actual_end_pos": [ + -2359.6575, + -4554.6065, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2359.6575, + -4554.6065, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2385.5394, + -4458.014, + 850.0 + ], + "actual_end_pos": [ + -2385.5394, + -4458.014, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2385.5394, + -4458.014, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "actual_end_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "actual_end_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "actual_end_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2340.7107, + -4290.7107, + 850.0 + ], + "actual_end_pos": [ + -2340.7107, + -4290.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2340.7107, + -4290.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000245_meta.json b/inverse_hard/run_20260427_001012__traj_000245_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..70697e26604bdb5e36b162c27780c88fc34ffbd6 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000245_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 245, + "episode_id": 0, + "state_id": 52, + "sample_index": 52, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -4220.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "turn_left", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2456.6025, + -4170.0, + 850.0 + ], + "actual_end_pos": [ + -2456.6025, + -4170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2456.6025, + -4170.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2543.2051, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2543.2051, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2543.2051, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2543.2051, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2543.2051, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2543.2051, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2472.4944, + -4049.2893, + 850.0 + ], + "actual_end_pos": [ + -2472.4944, + -4049.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2472.4944, + -4049.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2401.7837, + -3978.5787, + 850.0 + ], + "actual_end_pos": [ + -2401.7837, + -3978.5787, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2401.7837, + -3978.5787, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "actual_end_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "actual_end_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "actual_end_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "actual_end_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2431.073, + -3907.868, + 850.0 + ], + "actual_end_pos": [ + -2431.073, + -3907.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2431.073, + -3907.868, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2531.073, + -3907.868, + 850.0 + ], + "actual_end_pos": [ + -2531.073, + -3907.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2531.073, + -3907.868, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2431.073, + -3907.868, + 850.0 + ], + "actual_end_pos": [ + -2431.073, + -3907.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2431.073, + -3907.868, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "actual_end_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "actual_end_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "actual_end_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "actual_end_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2331.073, + -3907.868, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2401.7837, + -3978.5787, + 850.0 + ], + "actual_end_pos": [ + -2401.7837, + -3978.5787, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2401.7837, + -3978.5787, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2472.4944, + -4049.2893, + 850.0 + ], + "actual_end_pos": [ + -2472.4944, + -4049.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2472.4944, + -4049.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2543.2051, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2543.2051, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2543.2051, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2543.2051, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2543.2051, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2543.2051, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2456.6025, + -4170.0, + 850.0 + ], + "actual_end_pos": [ + -2456.6025, + -4170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2456.6025, + -4170.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000248_meta.json b/inverse_hard/run_20260427_001012__traj_000248_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9b9716e25ef93c650821af935ed43b50db3cd620 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000248_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 248, + "episode_id": 0, + "state_id": 53, + "sample_index": 53, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -4220.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "move_backward", + "move_forward", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4320.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4320.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -4320.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4420.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4420.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -4420.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4520.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4520.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + -4520.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4520.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4520.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -4520.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2544.1181, + -4423.4074, + 850.0 + ], + "actual_end_pos": [ + -2544.1181, + -4423.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2544.1181, + -4423.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2518.2362, + -4326.8149, + 850.0 + ], + "actual_end_pos": [ + -2518.2362, + -4326.8149, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2518.2362, + -4326.8149, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2492.3543, + -4230.2223, + 850.0 + ], + "actual_end_pos": [ + -2492.3543, + -4230.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2492.3543, + -4230.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + -4133.6297, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + -4133.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2466.4724, + -4133.6297, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + -4133.6297, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + -4133.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2466.4724, + -4133.6297, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + -4233.6297, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + -4233.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2466.4724, + -4233.6297, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + -4133.6297, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + -4133.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2466.4724, + -4133.6297, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + -4133.6297, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + -4133.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2466.4724, + -4133.6297, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2492.3543, + -4230.2223, + 850.0 + ], + "actual_end_pos": [ + -2492.3543, + -4230.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2492.3543, + -4230.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2518.2362, + -4326.8149, + 850.0 + ], + "actual_end_pos": [ + -2518.2362, + -4326.8149, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2518.2362, + -4326.8149, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2544.1181, + -4423.4074, + 850.0 + ], + "actual_end_pos": [ + -2544.1181, + -4423.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2544.1181, + -4423.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4520.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4520.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + -4520.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4520.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4520.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -4520.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4420.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4420.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -4420.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4320.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4320.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -4320.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000254_meta.json b/inverse_hard/run_20260427_001012__traj_000254_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b192ef6a8e50d79c5afec4f907551ca90fe33754 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000254_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 254, + "episode_id": 0, + "state_id": 54, + "sample_index": 54, + "trajectory_index_at_point": 3, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -4220.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2469.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2469.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2469.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2369.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2369.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2369.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2340.7106, + -4290.7107, + 850.0 + ], + "actual_end_pos": [ + -2340.7106, + -4290.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2340.7106, + -4290.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "actual_end_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "actual_end_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "actual_end_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "actual_end_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "actual_end_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2482.132, + -4532.1321, + 850.0 + ], + "actual_end_pos": [ + -2482.132, + -4532.1321, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2482.132, + -4532.1321, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "actual_end_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "actual_end_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "actual_end_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "actual_end_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2482.132, + -4432.1321, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "actual_end_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2411.4213, + -4361.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2340.7106, + -4290.7107, + 850.0 + ], + "actual_end_pos": [ + -2340.7106, + -4290.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2340.7106, + -4290.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2269.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2369.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2369.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2369.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2469.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2469.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2469.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000255_meta.json b/inverse_hard/run_20260427_001012__traj_000255_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cb740a4e098da3780679d08721803aaf04d27ff0 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000255_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 255, + "episode_id": 0, + "state_id": 54, + "sample_index": 54, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -4220.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_right", + "move_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4320.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4320.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2569.9999, + -4320.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4420.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4420.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2569.9999, + -4420.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4520.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4520.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2569.9999, + -4520.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4620.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2569.9999, + -4620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4620.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2569.9999, + -4620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4620.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2569.9999, + -4620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2519.9999, + -4533.3975, + 850.0 + ], + "actual_end_pos": [ + -2519.9999, + -4533.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2519.9999, + -4533.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2469.9999, + -4446.7949, + 850.0 + ], + "actual_end_pos": [ + -2469.9999, + -4446.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2469.9999, + -4446.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2469.9999, + -4446.7949, + 850.0 + ], + "actual_end_pos": [ + -2469.9999, + -4446.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2469.9999, + -4446.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2469.9999, + -4446.7949, + 850.0 + ], + "actual_end_pos": [ + -2469.9999, + -4446.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2469.9999, + -4446.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2469.9999, + -4546.7949, + 850.0 + ], + "actual_end_pos": [ + -2469.9999, + -4546.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2469.9999, + -4546.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2469.9999, + -4446.7949, + 850.0 + ], + "actual_end_pos": [ + -2469.9999, + -4446.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2469.9999, + -4446.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2469.9999, + -4446.7949, + 850.0 + ], + "actual_end_pos": [ + -2469.9999, + -4446.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2469.9999, + -4446.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2469.9999, + -4446.7949, + 850.0 + ], + "actual_end_pos": [ + -2469.9999, + -4446.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2469.9999, + -4446.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2519.9999, + -4533.3975, + 850.0 + ], + "actual_end_pos": [ + -2519.9999, + -4533.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2519.9999, + -4533.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4620.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2569.9999, + -4620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4620.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2569.9999, + -4620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4620.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2569.9999, + -4620.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4520.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4520.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2569.9999, + -4520.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4420.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4420.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2569.9999, + -4420.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4320.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4320.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2569.9999, + -4320.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2569.9999, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000265_meta.json b/inverse_hard/run_20260427_001012__traj_000265_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bd0eeb2ea565e70d6bf4efec25e4e08a8c2493e6 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000265_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 265, + "episode_id": 0, + "state_id": 56, + "sample_index": 56, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -3820.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3920.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -3920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4020.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -4020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2620.0, + -4206.6025, + 850.0 + ], + "actual_end_pos": [ + -2620.0, + -4206.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2620.0, + -4206.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -4293.2051, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -4293.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2670.0, + -4293.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2720.0, + -4379.8076, + 850.0 + ], + "actual_end_pos": [ + -2720.0, + -4379.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2720.0, + -4379.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2720.0, + -4379.8076, + 850.0 + ], + "actual_end_pos": [ + -2720.0, + -4379.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2720.0, + -4379.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2720.0, + -4379.8076, + 850.0 + ], + "actual_end_pos": [ + -2720.0, + -4379.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2720.0, + -4379.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -4466.4102, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -4466.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2670.0, + -4466.4102, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2620.0, + -4553.0127, + 850.0 + ], + "actual_end_pos": [ + -2620.0, + -4553.0127, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2620.0, + -4553.0127, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4639.6152, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4639.6152, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + -4639.6152, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4639.6152, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4639.6152, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + -4639.6152, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4639.6152, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4639.6152, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -4639.6152, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2620.0, + -4553.0127, + 850.0 + ], + "actual_end_pos": [ + -2620.0, + -4553.0127, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2620.0, + -4553.0127, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -4466.4102, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -4466.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2670.0, + -4466.4102, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2720.0, + -4379.8076, + 850.0 + ], + "actual_end_pos": [ + -2720.0, + -4379.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2720.0, + -4379.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2720.0, + -4379.8076, + 850.0 + ], + "actual_end_pos": [ + -2720.0, + -4379.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2720.0, + -4379.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2720.0, + -4379.8076, + 850.0 + ], + "actual_end_pos": [ + -2720.0, + -4379.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2720.0, + -4379.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -4293.2051, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -4293.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2670.0, + -4293.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2620.0, + -4206.6025, + 850.0 + ], + "actual_end_pos": [ + -2620.0, + -4206.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2620.0, + -4206.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4020.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -4020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3920.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -3920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000266_meta.json b/inverse_hard/run_20260427_001012__traj_000266_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..205d8a959387a4d168ad41f4d097f264fd72e90c --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000266_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 266, + "episode_id": 0, + "state_id": 57, + "sample_index": 57, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -3820.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2366.5926, + -3845.8819, + 850.0 + ], + "actual_end_pos": [ + -2366.5926, + -3845.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2366.5926, + -3845.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2463.1851, + -3871.7638, + 850.0 + ], + "actual_end_pos": [ + -2463.1851, + -3871.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2463.1851, + -3871.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2559.7777, + -3897.6457, + 850.0 + ], + "actual_end_pos": [ + -2559.7777, + -3897.6457, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2559.7777, + -3897.6457, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "actual_end_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "actual_end_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "actual_end_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "actual_end_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2606.3703, + -3836.9251, + 850.0 + ], + "actual_end_pos": [ + -2606.3703, + -3836.9251, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2606.3703, + -3836.9251, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2556.3703, + -3750.3225, + 850.0 + ], + "actual_end_pos": [ + -2556.3703, + -3750.3225, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2556.3703, + -3750.3225, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2606.3703, + -3836.9251, + 850.0 + ], + "actual_end_pos": [ + -2606.3703, + -3836.9251, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2606.3703, + -3836.9251, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "actual_end_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "actual_end_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "actual_end_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "actual_end_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2656.3703, + -3923.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2559.7777, + -3897.6457, + 850.0 + ], + "actual_end_pos": [ + -2559.7777, + -3897.6457, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2559.7777, + -3897.6457, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2463.1851, + -3871.7638, + 850.0 + ], + "actual_end_pos": [ + -2463.1851, + -3871.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2463.1851, + -3871.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2366.5926, + -3845.8819, + 850.0 + ], + "actual_end_pos": [ + -2366.5926, + -3845.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2366.5926, + -3845.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000267_meta.json b/inverse_hard/run_20260427_001012__traj_000267_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..861a0736d23277808914a2f90a7dafe34a083c1a --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000267_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 267, + "episode_id": 0, + "state_id": 57, + "sample_index": 57, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -3820.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "turn_right", + "move_forward", + "move_forward", + "move_backward", + "move_backward", + "turn_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3920.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -3920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4020.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -4020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2640.7107, + -4049.2893, + 850.0 + ], + "actual_end_pos": [ + -2640.7107, + -4049.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2640.7107, + -4049.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2711.4213, + -3978.5786, + 850.0 + ], + "actual_end_pos": [ + -2711.4213, + -3978.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2711.4213, + -3978.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2711.4213, + -3978.5786, + 850.0 + ], + "actual_end_pos": [ + -2711.4213, + -3978.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2711.4213, + -3978.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2661.4213, + -3891.9761, + 850.0 + ], + "actual_end_pos": [ + -2661.4213, + -3891.9761, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2661.4213, + -3891.9761, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2611.4213, + -3805.3736, + 850.0 + ], + "actual_end_pos": [ + -2611.4213, + -3805.3736, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2611.4213, + -3805.3736, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2661.4213, + -3891.9761, + 850.0 + ], + "actual_end_pos": [ + -2661.4213, + -3891.9761, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2661.4213, + -3891.9761, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2711.4213, + -3978.5786, + 850.0 + ], + "actual_end_pos": [ + -2711.4213, + -3978.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2711.4213, + -3978.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2711.4213, + -3978.5786, + 850.0 + ], + "actual_end_pos": [ + -2711.4213, + -3978.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2711.4213, + -3978.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2640.7107, + -4049.2893, + 850.0 + ], + "actual_end_pos": [ + -2640.7107, + -4049.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2640.7107, + -4049.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4020.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -4020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3920.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -3920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000275_meta.json b/inverse_hard/run_20260427_001012__traj_000275_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..91175ca8bcdb48ce4925a9cdc250fddc8a29dd6c --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000275_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 275, + "episode_id": 0, + "state_id": 58, + "sample_index": 58, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -3820.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2670.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2719.9999, + -3906.6025, + 850.0 + ], + "actual_end_pos": [ + -2719.9999, + -3906.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2719.9999, + -3906.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2669.9999, + -3993.2051, + 850.0 + ], + "actual_end_pos": [ + -2669.9999, + -3993.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2669.9999, + -3993.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2619.9999, + -4079.8076, + 850.0 + ], + "actual_end_pos": [ + -2619.9999, + -4079.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2619.9999, + -4079.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2619.9999, + -4079.8076, + 850.0 + ], + "actual_end_pos": [ + -2619.9999, + -4079.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2619.9999, + -4079.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2619.9999, + -4079.8076, + 850.0 + ], + "actual_end_pos": [ + -2619.9999, + -4079.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2619.9999, + -4079.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2619.9999, + -3979.8076, + 850.0 + ], + "actual_end_pos": [ + -2619.9999, + -3979.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2619.9999, + -3979.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2619.9999, + -3879.8076, + 850.0 + ], + "actual_end_pos": [ + -2619.9999, + -3879.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2619.9999, + -3879.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2619.9999, + -3779.8076, + 850.0 + ], + "actual_end_pos": [ + -2619.9999, + -3779.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2619.9999, + -3779.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2619.9999, + -3879.8076, + 850.0 + ], + "actual_end_pos": [ + -2619.9999, + -3879.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2619.9999, + -3879.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2619.9999, + -3979.8076, + 850.0 + ], + "actual_end_pos": [ + -2619.9999, + -3979.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2619.9999, + -3979.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2619.9999, + -4079.8076, + 850.0 + ], + "actual_end_pos": [ + -2619.9999, + -4079.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2619.9999, + -4079.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2619.9999, + -4079.8076, + 850.0 + ], + "actual_end_pos": [ + -2619.9999, + -4079.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2619.9999, + -4079.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2619.9999, + -4079.8076, + 850.0 + ], + "actual_end_pos": [ + -2619.9999, + -4079.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2619.9999, + -4079.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2669.9999, + -3993.2051, + 850.0 + ], + "actual_end_pos": [ + -2669.9999, + -3993.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2669.9999, + -3993.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2719.9999, + -3906.6025, + 850.0 + ], + "actual_end_pos": [ + -2719.9999, + -3906.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2719.9999, + -3906.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2670.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000276_meta.json b/inverse_hard/run_20260427_001012__traj_000276_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..516d8d41b0b5390cf7f24af272af41e9499ca405 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000276_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 276, + "episode_id": 0, + "state_id": 59, + "sample_index": 59, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -3820.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2670.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2870.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3019.9999, + -3906.6025, + 850.0 + ], + "actual_end_pos": [ + -3019.9999, + -3906.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3019.9999, + -3906.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3069.9999, + -3993.2051, + 850.0 + ], + "actual_end_pos": [ + -3069.9999, + -3993.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3069.9999, + -3993.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3119.9999, + -4079.8076, + 850.0 + ], + "actual_end_pos": [ + -3119.9999, + -4079.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3119.9999, + -4079.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3119.9999, + -4079.8076, + 850.0 + ], + "actual_end_pos": [ + -3119.9999, + -4079.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3119.9999, + -4079.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3119.9999, + -4079.8076, + 850.0 + ], + "actual_end_pos": [ + -3119.9999, + -4079.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3119.9999, + -4079.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3119.9999, + -3979.8076, + 850.0 + ], + "actual_end_pos": [ + -3119.9999, + -3979.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3119.9999, + -3979.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3119.9999, + -3879.8076, + 850.0 + ], + "actual_end_pos": [ + -3119.9999, + -3879.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3119.9999, + -3879.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3119.9999, + -3779.8076, + 850.0 + ], + "actual_end_pos": [ + -3119.9999, + -3779.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3119.9999, + -3779.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + -3679.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + -3679.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3120.0, + -3679.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + -3679.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + -3679.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3120.0, + -3679.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3120.0, + -3679.8076, + 850.0 + ], + "actual_end_pos": [ + -3120.0, + -3679.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3120.0, + -3679.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3119.9999, + -3779.8076, + 850.0 + ], + "actual_end_pos": [ + -3119.9999, + -3779.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3119.9999, + -3779.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3119.9999, + -3879.8076, + 850.0 + ], + "actual_end_pos": [ + -3119.9999, + -3879.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3119.9999, + -3879.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3119.9999, + -3979.8076, + 850.0 + ], + "actual_end_pos": [ + -3119.9999, + -3979.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3119.9999, + -3979.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3119.9999, + -4079.8076, + 850.0 + ], + "actual_end_pos": [ + -3119.9999, + -4079.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3119.9999, + -4079.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3119.9999, + -4079.8076, + 850.0 + ], + "actual_end_pos": [ + -3119.9999, + -4079.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3119.9999, + -4079.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3119.9999, + -4079.8076, + 850.0 + ], + "actual_end_pos": [ + -3119.9999, + -4079.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3119.9999, + -4079.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3069.9999, + -3993.2051, + 850.0 + ], + "actual_end_pos": [ + -3069.9999, + -3993.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3069.9999, + -3993.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3019.9999, + -3906.6025, + 850.0 + ], + "actual_end_pos": [ + -3019.9999, + -3906.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3019.9999, + -3906.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2870.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2670.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000277_meta.json b/inverse_hard/run_20260427_001012__traj_000277_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5b0d452d39f4b7b925f94df65ee790319e78e40e --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000277_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 277, + "episode_id": 0, + "state_id": 59, + "sample_index": 59, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -3820.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2670.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2840.7106, + -3890.7107, + 850.0 + ], + "actual_end_pos": [ + -2840.7106, + -3890.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2840.7106, + -3890.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2911.4213, + -3961.4213, + 850.0 + ], + "actual_end_pos": [ + -2911.4213, + -3961.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2911.4213, + -3961.4213, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "actual_end_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "actual_end_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "actual_end_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "actual_end_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -2982.132, + -3932.132, + 850.0 + ], + "actual_end_pos": [ + -2982.132, + -3932.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2982.132, + -3932.132, + 850.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "actual_end_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "actual_end_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "actual_end_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "actual_end_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2982.132, + -4032.132, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2911.4213, + -3961.4213, + 850.0 + ], + "actual_end_pos": [ + -2911.4213, + -3961.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2911.4213, + -3961.4213, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2840.7106, + -3890.7107, + 850.0 + ], + "actual_end_pos": [ + -2840.7106, + -3890.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2840.7106, + -3890.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2770.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2670.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000282_meta.json b/inverse_hard/run_20260427_001012__traj_000282_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9f3874f81c8a86473f62968f2ea3e8880ffed01d --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000282_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 282, + "episode_id": 0, + "state_id": 60, + "sample_index": 60, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -1820.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "move_right", + "move_right", + "turn_left", + "move_right", + "move_left", + "turn_right", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2870.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3020.0, + -1733.3975, + 850.0 + ], + "actual_end_pos": [ + -3020.0, + -1733.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3020.0, + -1733.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -1646.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -1646.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3070.0, + -1646.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -1646.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -1646.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3070.0, + -1646.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3095.8819, + -1550.2023, + 850.0 + ], + "actual_end_pos": [ + -3095.8819, + -1550.2023, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3095.8819, + -1550.2023, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -1646.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -1646.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3070.0, + -1646.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3070.0, + -1646.7949, + 850.0 + ], + "actual_end_pos": [ + -3070.0, + -1646.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3070.0, + -1646.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3020.0, + -1733.3975, + 850.0 + ], + "actual_end_pos": [ + -3020.0, + -1733.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3020.0, + -1733.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2870.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000284_meta.json b/inverse_hard/run_20260427_001012__traj_000284_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b654cb649aea181d1c5d0c71c53681b85c81ec76 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000284_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 284, + "episode_id": 0, + "state_id": 60, + "sample_index": 60, + "trajectory_index_at_point": 3, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -1820.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2840.7107, + -1749.2893, + 850.0 + ], + "actual_end_pos": [ + -2840.7107, + -1749.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2840.7107, + -1749.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2911.4214, + -1678.5786, + 850.0 + ], + "actual_end_pos": [ + -2911.4214, + -1678.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2911.4214, + -1678.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2982.132, + -1607.868, + 850.0 + ], + "actual_end_pos": [ + -2982.132, + -1607.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2982.132, + -1607.868, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2982.132, + -1607.868, + 850.0 + ], + "actual_end_pos": [ + -2982.132, + -1607.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2982.132, + -1607.868, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2982.132, + -1607.868, + 850.0 + ], + "actual_end_pos": [ + -2982.132, + -1607.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2982.132, + -1607.868, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3008.0139, + -1511.2754, + 850.0 + ], + "actual_end_pos": [ + -3008.0139, + -1511.2754, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3008.0139, + -1511.2754, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3033.8958, + -1414.6828, + 850.0 + ], + "actual_end_pos": [ + -3033.8958, + -1414.6828, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3033.8958, + -1414.6828, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3059.7778, + -1318.0902, + 850.0 + ], + "actual_end_pos": [ + -3059.7778, + -1318.0902, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3059.7778, + -1318.0902, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3085.6597, + -1221.4976, + 850.0 + ], + "actual_end_pos": [ + -3085.6597, + -1221.4976, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3085.6597, + -1221.4976, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3059.7778, + -1318.0902, + 850.0 + ], + "actual_end_pos": [ + -3059.7778, + -1318.0902, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3059.7778, + -1318.0902, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3033.8958, + -1414.6828, + 850.0 + ], + "actual_end_pos": [ + -3033.8958, + -1414.6828, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3033.8958, + -1414.6828, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3008.0139, + -1511.2754, + 850.0 + ], + "actual_end_pos": [ + -3008.0139, + -1511.2754, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3008.0139, + -1511.2754, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2982.132, + -1607.868, + 850.0 + ], + "actual_end_pos": [ + -2982.132, + -1607.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2982.132, + -1607.868, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2982.132, + -1607.868, + 850.0 + ], + "actual_end_pos": [ + -2982.132, + -1607.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2982.132, + -1607.868, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2982.132, + -1607.868, + 850.0 + ], + "actual_end_pos": [ + -2982.132, + -1607.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2982.132, + -1607.868, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2911.4214, + -1678.5786, + 850.0 + ], + "actual_end_pos": [ + -2911.4214, + -1678.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2911.4214, + -1678.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2840.7107, + -1749.2893, + 850.0 + ], + "actual_end_pos": [ + -2840.7107, + -1749.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2840.7107, + -1749.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000287_meta.json b/inverse_hard/run_20260427_001012__traj_000287_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..23160d163a54ea51964bc1acc0bd76490580a2a3 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000287_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 287, + "episode_id": 0, + "state_id": 61, + "sample_index": 61, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -1820.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2870.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3040.7107, + -1749.2893, + 850.0 + ], + "actual_end_pos": [ + -3040.7107, + -1749.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3040.7107, + -1749.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3111.4214, + -1678.5786, + 850.0 + ], + "actual_end_pos": [ + -3111.4214, + -1678.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3111.4214, + -1678.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3182.132, + -1607.868, + 850.0 + ], + "actual_end_pos": [ + -3182.132, + -1607.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3182.132, + -1607.868, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3111.4214, + -1678.5786, + 850.0 + ], + "actual_end_pos": [ + -3111.4214, + -1678.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3111.4214, + -1678.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3040.7107, + -1749.2893, + 850.0 + ], + "actual_end_pos": [ + -3040.7107, + -1749.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3040.7107, + -1749.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2870.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000290_meta.json b/inverse_hard/run_20260427_001012__traj_000290_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c93872233fb9bfa0ee006c66fa968a6769adeb03 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000290_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 290, + "episode_id": 0, + "state_id": 61, + "sample_index": 61, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -1820.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "turn_left", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "turn_right", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2795.8819, + -1916.5926, + 850.0 + ], + "actual_end_pos": [ + -2795.8819, + -1916.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2795.8819, + -1916.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2821.7638, + -2013.1852, + 850.0 + ], + "actual_end_pos": [ + -2821.7638, + -2013.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2821.7638, + -2013.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2821.7638, + -2013.1852, + 850.0 + ], + "actual_end_pos": [ + -2821.7638, + -2013.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2821.7638, + -2013.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2821.7638, + -2013.1852, + 850.0 + ], + "actual_end_pos": [ + -2821.7638, + -2013.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2821.7638, + -2013.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2847.6457, + -1916.5926, + 850.0 + ], + "actual_end_pos": [ + -2847.6457, + -1916.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2847.6457, + -1916.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2873.5276, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2873.5276, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2873.5276, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2899.4095, + -1723.4074, + 850.0 + ], + "actual_end_pos": [ + -2899.4095, + -1723.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2899.4095, + -1723.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2925.2914, + -1626.8148, + 850.0 + ], + "actual_end_pos": [ + -2925.2914, + -1626.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2925.2914, + -1626.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2899.4095, + -1723.4074, + 850.0 + ], + "actual_end_pos": [ + -2899.4095, + -1723.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2899.4095, + -1723.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2873.5276, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2873.5276, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2873.5276, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2847.6457, + -1916.5926, + 850.0 + ], + "actual_end_pos": [ + -2847.6457, + -1916.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2847.6457, + -1916.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2821.7638, + -2013.1852, + 850.0 + ], + "actual_end_pos": [ + -2821.7638, + -2013.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2821.7638, + -2013.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2821.7638, + -2013.1852, + 850.0 + ], + "actual_end_pos": [ + -2821.7638, + -2013.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2821.7638, + -2013.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2821.7638, + -2013.1852, + 850.0 + ], + "actual_end_pos": [ + -2821.7638, + -2013.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2821.7638, + -2013.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2795.8819, + -1916.5926, + 850.0 + ], + "actual_end_pos": [ + -2795.8819, + -1916.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2795.8819, + -1916.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000294_meta.json b/inverse_hard/run_20260427_001012__traj_000294_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1699afaba11e1bfda93e820cd6e26322a9ee0735 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000294_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 294, + "episode_id": 0, + "state_id": 63, + "sample_index": 63, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -1820.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "turn_right", + "turn_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2870.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2899.2893, + -1890.7107, + 850.0 + ], + "actual_end_pos": [ + -2899.2893, + -1890.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2899.2893, + -1890.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2828.5786, + -1961.4214, + 850.0 + ], + "actual_end_pos": [ + -2828.5786, + -1961.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2828.5786, + -1961.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2828.5786, + -1961.4214, + 850.0 + ], + "actual_end_pos": [ + -2828.5786, + -1961.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2828.5786, + -1961.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2828.5786, + -1961.4214, + 850.0 + ], + "actual_end_pos": [ + -2828.5786, + -1961.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2828.5786, + -1961.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2899.2893, + -1890.7107, + 850.0 + ], + "actual_end_pos": [ + -2899.2893, + -1890.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2899.2893, + -1890.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2970.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2870.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2870.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2870.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000297_meta.json b/inverse_hard/run_20260427_001012__traj_000297_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d41cb8a5c433eb395b738339a1d79191b077636 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000297_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 297, + "episode_id": 0, + "state_id": 63, + "sample_index": 63, + "trajectory_index_at_point": 3, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -1820.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2866.5926, + -1794.1181, + 850.0 + ], + "actual_end_pos": [ + -2866.5926, + -1794.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2866.5926, + -1794.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2963.1852, + -1768.2362, + 850.0 + ], + "actual_end_pos": [ + -2963.1852, + -1768.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2963.1852, + -1768.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3059.7777, + -1742.3543, + 850.0 + ], + "actual_end_pos": [ + -3059.7777, + -1742.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3059.7777, + -1742.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3156.3703, + -1716.4724, + 850.0 + ], + "actual_end_pos": [ + -3156.3703, + -1716.4724, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3156.3703, + -1716.4724, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3156.3703, + -1716.4724, + 850.0 + ], + "actual_end_pos": [ + -3156.3703, + -1716.4724, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3156.3703, + -1716.4724, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3156.3703, + -1616.4724, + 850.0 + ], + "actual_end_pos": [ + -3156.3703, + -1616.4724, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3156.3703, + -1616.4724, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3156.3703, + -1516.4724, + 850.0 + ], + "actual_end_pos": [ + -3156.3703, + -1516.4724, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3156.3703, + -1516.4724, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3156.3703, + -1416.4724, + 850.0 + ], + "actual_end_pos": [ + -3156.3703, + -1416.4724, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3156.3703, + -1416.4724, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3156.3703, + -1416.4724, + 850.0 + ], + "actual_end_pos": [ + -3156.3703, + -1416.4724, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3156.3703, + -1416.4724, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3156.3703, + -1416.4724, + 850.0 + ], + "actual_end_pos": [ + -3156.3703, + -1416.4724, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3156.3703, + -1416.4724, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3156.3703, + -1516.4724, + 850.0 + ], + "actual_end_pos": [ + -3156.3703, + -1516.4724, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3156.3703, + -1516.4724, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3156.3703, + -1616.4724, + 850.0 + ], + "actual_end_pos": [ + -3156.3703, + -1616.4724, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3156.3703, + -1616.4724, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3156.3703, + -1716.4724, + 850.0 + ], + "actual_end_pos": [ + -3156.3703, + -1716.4724, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3156.3703, + -1716.4724, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3156.3703, + -1716.4724, + 850.0 + ], + "actual_end_pos": [ + -3156.3703, + -1716.4724, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3156.3703, + -1716.4724, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3059.7777, + -1742.3543, + 850.0 + ], + "actual_end_pos": [ + -3059.7777, + -1742.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3059.7777, + -1742.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2963.1852, + -1768.2362, + 850.0 + ], + "actual_end_pos": [ + -2963.1852, + -1768.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2963.1852, + -1768.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2866.5926, + -1794.1181, + 850.0 + ], + "actual_end_pos": [ + -2866.5926, + -1794.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2866.5926, + -1794.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2770.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2670.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000299_meta.json b/inverse_hard/run_20260427_001012__traj_000299_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f74b520e4b4aae3c04e2a993d0cec24f9781b498 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000299_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 299, + "episode_id": 0, + "state_id": 64, + "sample_index": 64, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -220.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_right", + "move_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "turn_left", + "move_left", + "move_left", + "move_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8819, + 176.5926, + 850.0 + ], + "actual_end_pos": [ + -2595.8819, + 176.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2595.8819, + 176.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + 273.1852, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + 273.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2621.7638, + 273.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + 369.7777, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + 369.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2647.6457, + 369.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + 369.7777, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + 369.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2647.6457, + 369.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2597.6457, + 283.1752, + 850.0 + ], + "actual_end_pos": [ + -2597.6457, + 283.1752, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2597.6457, + 283.1752, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2547.6457, + 196.5727, + 850.0 + ], + "actual_end_pos": [ + -2547.6457, + 196.5727, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2547.6457, + 196.5727, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2497.6457, + 109.9701, + 850.0 + ], + "actual_end_pos": [ + -2497.6457, + 109.9701, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2497.6457, + 109.9701, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2497.6457, + 109.9701, + 850.0 + ], + "actual_end_pos": [ + -2497.6457, + 109.9701, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2497.6457, + 109.9701, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2497.6457, + 109.9701, + 850.0 + ], + "actual_end_pos": [ + -2497.6457, + 109.9701, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2497.6457, + 109.9701, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2584.2483, + 159.9701, + 850.0 + ], + "actual_end_pos": [ + -2584.2483, + 159.9701, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2584.2483, + 159.9701, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2497.6457, + 109.9701, + 850.0 + ], + "actual_end_pos": [ + -2497.6457, + 109.9701, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2497.6457, + 109.9701, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2497.6457, + 109.9701, + 850.0 + ], + "actual_end_pos": [ + -2497.6457, + 109.9701, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2497.6457, + 109.9701, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2497.6457, + 109.9701, + 850.0 + ], + "actual_end_pos": [ + -2497.6457, + 109.9701, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2497.6457, + 109.9701, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2547.6457, + 196.5727, + 850.0 + ], + "actual_end_pos": [ + -2547.6457, + 196.5727, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2547.6457, + 196.5727, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2597.6457, + 283.1752, + 850.0 + ], + "actual_end_pos": [ + -2597.6457, + 283.1752, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2597.6457, + 283.1752, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + 369.7777, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + 369.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2647.6457, + 369.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + 369.7777, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + 369.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2647.6457, + 369.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + 273.1852, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + 273.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2621.7638, + 273.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8819, + 176.5926, + 850.0 + ], + "actual_end_pos": [ + -2595.8819, + 176.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2595.8819, + 176.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000300_meta.json b/inverse_hard/run_20260427_001012__traj_000300_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2eb3fc2997e11b50135ee53bf7e792df815d931c --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000300_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 300, + "episode_id": 0, + "state_id": 64, + "sample_index": 64, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -220.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_right", + "turn_right", + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2473.4074, + 5.8819, + 850.0 + ], + "actual_end_pos": [ + -2473.4074, + 5.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2473.4074, + 5.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2376.8148, + 31.7638, + 850.0 + ], + "actual_end_pos": [ + -2376.8148, + 31.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2376.8148, + 31.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2280.2223, + 57.6457, + 850.0 + ], + "actual_end_pos": [ + -2280.2223, + 57.6457, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2280.2223, + 57.6457, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "actual_end_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "actual_end_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "actual_end_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "actual_end_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2270.2322, + 133.5276, + 850.0 + ], + "actual_end_pos": [ + -2270.2322, + 133.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2270.2322, + 133.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2356.8347, + 183.5276, + 850.0 + ], + "actual_end_pos": [ + -2356.8347, + 183.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2356.8347, + 183.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2356.8347, + 183.5276, + 850.0 + ], + "actual_end_pos": [ + -2356.8347, + 183.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2356.8347, + 183.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2356.8347, + 183.5276, + 850.0 + ], + "actual_end_pos": [ + -2356.8347, + 183.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2356.8347, + 183.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2356.8347, + 183.5276, + 850.0 + ], + "actual_end_pos": [ + -2356.8347, + 183.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2356.8347, + 183.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2356.8347, + 183.5276, + 850.0 + ], + "actual_end_pos": [ + -2356.8347, + 183.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2356.8347, + 183.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2270.2322, + 133.5276, + 850.0 + ], + "actual_end_pos": [ + -2270.2322, + 133.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2270.2322, + 133.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "actual_end_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "actual_end_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "actual_end_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "actual_end_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2183.6297, + 83.5276, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2280.2223, + 57.6457, + 850.0 + ], + "actual_end_pos": [ + -2280.2223, + 57.6457, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2280.2223, + 57.6457, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2376.8148, + 31.7638, + 850.0 + ], + "actual_end_pos": [ + -2376.8148, + 31.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2376.8148, + 31.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2473.4074, + 5.8819, + 850.0 + ], + "actual_end_pos": [ + -2473.4074, + 5.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2473.4074, + 5.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000303_meta.json b/inverse_hard/run_20260427_001012__traj_000303_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d2d9c1e68abfe1cde6048ea718dad53e754ab595 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000303_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 303, + "episode_id": 0, + "state_id": 64, + "sample_index": 64, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -220.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2499.2893, + 109.2893, + 850.0 + ], + "actual_end_pos": [ + -2499.2893, + 109.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2499.2893, + 109.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2428.5786, + 38.5786, + 850.0 + ], + "actual_end_pos": [ + -2428.5786, + 38.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2428.5786, + 38.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2357.868, + -32.132, + 850.0 + ], + "actual_end_pos": [ + -2357.868, + -32.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2357.868, + -32.132, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2357.868, + -32.132, + 850.0 + ], + "actual_end_pos": [ + -2357.868, + -32.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2357.868, + -32.132, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2357.868, + -32.132, + 850.0 + ], + "actual_end_pos": [ + -2357.868, + -32.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2357.868, + -32.132, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2261.2754, + -58.0139, + 850.0 + ], + "actual_end_pos": [ + -2261.2754, + -58.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2261.2754, + -58.0139, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2164.6828, + -83.8958, + 850.0 + ], + "actual_end_pos": [ + -2164.6828, + -83.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2164.6828, + -83.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2068.0902, + -109.7777, + 850.0 + ], + "actual_end_pos": [ + -2068.0902, + -109.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2068.0902, + -109.7777, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2164.6828, + -83.8958, + 850.0 + ], + "actual_end_pos": [ + -2164.6828, + -83.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2164.6828, + -83.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2261.2754, + -58.0139, + 850.0 + ], + "actual_end_pos": [ + -2261.2754, + -58.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2261.2754, + -58.0139, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2357.868, + -32.132, + 850.0 + ], + "actual_end_pos": [ + -2357.868, + -32.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2357.868, + -32.132, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2357.868, + -32.132, + 850.0 + ], + "actual_end_pos": [ + -2357.868, + -32.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2357.868, + -32.132, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2357.868, + -32.132, + 850.0 + ], + "actual_end_pos": [ + -2357.868, + -32.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2357.868, + -32.132, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2428.5786, + 38.5786, + 850.0 + ], + "actual_end_pos": [ + -2428.5786, + 38.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2428.5786, + 38.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2499.2893, + 109.2893, + 850.0 + ], + "actual_end_pos": [ + -2499.2893, + 109.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2499.2893, + 109.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000305_meta.json b/inverse_hard/run_20260427_001012__traj_000305_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c9e3b46e93a8cfa1ba14ceb3a1fdc4bc2b0d86bc --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000305_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 305, + "episode_id": 0, + "state_id": 65, + "sample_index": 65, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -220.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2520.0, + 93.3975, + 850.0 + ], + "actual_end_pos": [ + -2520.0, + 93.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2520.0, + 93.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 6.7949, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 6.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2470.0, + 6.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2420.0, + -79.8076, + 850.0 + ], + "actual_end_pos": [ + -2420.0, + -79.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2420.0, + -79.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2420.0, + -79.8076, + 850.0 + ], + "actual_end_pos": [ + -2420.0, + -79.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2420.0, + -79.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2420.0, + -79.8076, + 850.0 + ], + "actual_end_pos": [ + -2420.0, + -79.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2420.0, + -79.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 6.7949, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 6.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2470.0, + 6.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2520.0, + 93.3975, + 850.0 + ], + "actual_end_pos": [ + -2520.0, + 93.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2520.0, + 93.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000307_meta.json b/inverse_hard/run_20260427_001012__traj_000307_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..592c7679bb36a3978bfa481c449e5293b70e2fcd --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000307_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 307, + "episode_id": 0, + "state_id": 65, + "sample_index": 65, + "trajectory_index_at_point": 3, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -220.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "move_forward", + "move_forward", + "turn_left", + "turn_right", + "move_backward", + "move_backward", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8819, + 83.4074, + 850.0 + ], + "actual_end_pos": [ + -2595.8819, + 83.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2595.8819, + 83.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + -109.7777, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + -109.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2647.6457, + -109.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + -109.7777, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + -109.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2647.6457, + -109.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + -9.7777, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + -9.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2647.6457, + -9.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + 90.2223, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + 90.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2647.6457, + 90.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + 90.2223, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + 90.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2647.6457, + 90.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + 90.2223, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + 90.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2647.6457, + 90.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + -9.7777, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + -9.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2647.6457, + -9.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + -109.7777, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + -109.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2647.6457, + -109.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + -109.7777, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + -109.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2647.6457, + -109.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8819, + 83.4074, + 850.0 + ], + "actual_end_pos": [ + -2595.8819, + 83.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2595.8819, + 83.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000309_meta.json b/inverse_hard/run_20260427_001012__traj_000309_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a5b28d9012592ab17c2503877f5cb10f848e8054 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000309_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 309, + "episode_id": 0, + "state_id": 66, + "sample_index": 66, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -220.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_left", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2520.0, + 166.6025, + 850.0 + ], + "actual_end_pos": [ + -2520.0, + 166.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2520.0, + 166.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 253.2051, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 253.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2470.0, + 253.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2420.0, + 339.8076, + 850.0 + ], + "actual_end_pos": [ + -2420.0, + 339.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2420.0, + 339.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 426.4102, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 426.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2370.0, + 426.4102, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 426.4102, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 426.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2370.0, + 426.4102, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 426.4102, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 426.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2370.0, + 426.4102, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2420.0, + 339.8076, + 850.0 + ], + "actual_end_pos": [ + -2420.0, + 339.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2420.0, + 339.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 253.2051, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 253.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2470.0, + 253.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2520.0, + 166.6025, + 850.0 + ], + "actual_end_pos": [ + -2520.0, + 166.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2520.0, + 166.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000310_meta.json b/inverse_hard/run_20260427_001012__traj_000310_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..188607313fe62d16b12ccae1be1957d156f7106d --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000310_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 310, + "episode_id": 0, + "state_id": 66, + "sample_index": 66, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -220.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "move_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2544.1181, + 276.5926, + 850.0 + ], + "actual_end_pos": [ + -2544.1181, + 276.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2544.1181, + 276.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2518.2362, + 373.1852, + 850.0 + ], + "actual_end_pos": [ + -2518.2362, + 373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2518.2362, + 373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2492.3543, + 469.7777, + 850.0 + ], + "actual_end_pos": [ + -2492.3543, + 469.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2492.3543, + 469.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2416.4724, + 479.7678, + 850.0 + ], + "actual_end_pos": [ + -2416.4724, + 479.7678, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2416.4724, + 479.7678, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2366.4724, + 393.1652, + 850.0 + ], + "actual_end_pos": [ + -2366.4724, + 393.1652, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2366.4724, + 393.1652, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2316.4724, + 306.5627, + 850.0 + ], + "actual_end_pos": [ + -2316.4724, + 306.5627, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2316.4724, + 306.5627, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2366.4724, + 393.1652, + 850.0 + ], + "actual_end_pos": [ + -2366.4724, + 393.1652, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2366.4724, + 393.1652, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2416.4724, + 479.7678, + 850.0 + ], + "actual_end_pos": [ + -2416.4724, + 479.7678, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2416.4724, + 479.7678, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2466.4724, + 566.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2492.3543, + 469.7777, + 850.0 + ], + "actual_end_pos": [ + -2492.3543, + 469.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2492.3543, + 469.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2518.2362, + 373.1852, + 850.0 + ], + "actual_end_pos": [ + -2518.2362, + 373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2518.2362, + 373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2544.1181, + 276.5926, + 850.0 + ], + "actual_end_pos": [ + -2544.1181, + 276.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2544.1181, + 276.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000311_meta.json b/inverse_hard/run_20260427_001012__traj_000311_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5a278bcdee087a5a8f90eb76760037b176f0d901 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000311_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 311, + "episode_id": 0, + "state_id": 66, + "sample_index": 66, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -220.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_backward", + "move_forward", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2640.7107, + 9.2893, + 850.0 + ], + "actual_end_pos": [ + -2640.7107, + 9.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2640.7107, + 9.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2711.4214, + -61.4214, + 850.0 + ], + "actual_end_pos": [ + -2711.4214, + -61.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2711.4214, + -61.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2711.4214, + -61.4214, + 850.0 + ], + "actual_end_pos": [ + -2711.4214, + -61.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2711.4214, + -61.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2711.4214, + -61.4214, + 850.0 + ], + "actual_end_pos": [ + -2711.4214, + -61.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2711.4214, + -61.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2808.0139, + -87.3033, + 850.0 + ], + "actual_end_pos": [ + -2808.0139, + -87.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2808.0139, + -87.3033, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2904.6065, + -113.1852, + 850.0 + ], + "actual_end_pos": [ + -2904.6065, + -113.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2904.6065, + -113.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3001.1991, + -139.0671, + 850.0 + ], + "actual_end_pos": [ + -3001.1991, + -139.0671, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3001.1991, + -139.0671, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3001.1991, + -139.0671, + 850.0 + ], + "actual_end_pos": [ + -3001.1991, + -139.0671, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3001.1991, + -139.0671, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3001.1991, + -139.0671, + 850.0 + ], + "actual_end_pos": [ + -3001.1991, + -139.0671, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3001.1991, + -139.0671, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2930.4884, + -209.7777, + 850.0 + ], + "actual_end_pos": [ + -2930.4884, + -209.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2930.4884, + -209.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3001.1991, + -139.0671, + 850.0 + ], + "actual_end_pos": [ + -3001.1991, + -139.0671, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3001.1991, + -139.0671, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3001.1991, + -139.0671, + 850.0 + ], + "actual_end_pos": [ + -3001.1991, + -139.0671, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3001.1991, + -139.0671, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3001.1991, + -139.0671, + 850.0 + ], + "actual_end_pos": [ + -3001.1991, + -139.0671, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3001.1991, + -139.0671, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2904.6065, + -113.1852, + 850.0 + ], + "actual_end_pos": [ + -2904.6065, + -113.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2904.6065, + -113.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2808.0139, + -87.3033, + 850.0 + ], + "actual_end_pos": [ + -2808.0139, + -87.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2808.0139, + -87.3033, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2711.4214, + -61.4214, + 850.0 + ], + "actual_end_pos": [ + -2711.4214, + -61.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2711.4214, + -61.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2711.4214, + -61.4214, + 850.0 + ], + "actual_end_pos": [ + -2711.4214, + -61.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2711.4214, + -61.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2711.4214, + -61.4214, + 850.0 + ], + "actual_end_pos": [ + -2711.4214, + -61.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2711.4214, + -61.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2640.7107, + 9.2893, + 850.0 + ], + "actual_end_pos": [ + -2640.7107, + 9.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2640.7107, + 9.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000314_meta.json b/inverse_hard/run_20260427_001012__traj_000314_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b13e4d125522bb16fbacf47d30c82296fa43261d --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000314_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 314, + "episode_id": 0, + "state_id": 67, + "sample_index": 67, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -220.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2620.0, + 66.6025, + 850.0 + ], + "actual_end_pos": [ + -2620.0, + 66.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2620.0, + 66.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2573.4074, + 127.3232, + 850.0 + ], + "actual_end_pos": [ + -2573.4074, + 127.3232, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2573.4074, + 127.3232, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2476.8148, + 101.4413, + 850.0 + ], + "actual_end_pos": [ + -2476.8148, + 101.4413, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2476.8148, + 101.4413, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2476.8148, + 101.4413, + 850.0 + ], + "actual_end_pos": [ + -2476.8148, + 101.4413, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2476.8148, + 101.4413, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2476.8148, + 101.4413, + 850.0 + ], + "actual_end_pos": [ + -2476.8148, + 101.4413, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2476.8148, + 101.4413, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2476.8148, + 101.4413, + 850.0 + ], + "actual_end_pos": [ + -2476.8148, + 101.4413, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2476.8148, + 101.4413, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2476.8148, + 101.4413, + 850.0 + ], + "actual_end_pos": [ + -2476.8148, + 101.4413, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2476.8148, + 101.4413, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2573.4074, + 127.3232, + 850.0 + ], + "actual_end_pos": [ + -2573.4074, + 127.3232, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2573.4074, + 127.3232, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2670.0, + 153.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2620.0, + 66.6025, + 850.0 + ], + "actual_end_pos": [ + -2620.0, + 66.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2620.0, + 66.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000315_meta.json b/inverse_hard/run_20260427_001012__traj_000315_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f060bbaaa4051b1acd7348bc9ed5599054944f12 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000315_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 315, + "episode_id": 0, + "state_id": 67, + "sample_index": 67, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -220.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_left", + "move_backward", + "move_forward", + "turn_right", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2473.4074, + 54.1181, + 850.0 + ], + "actual_end_pos": [ + -2473.4074, + 54.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2473.4074, + 54.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2376.8148, + 28.2362, + 850.0 + ], + "actual_end_pos": [ + -2376.8148, + 28.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2376.8148, + 28.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2280.2223, + 2.3543, + 850.0 + ], + "actual_end_pos": [ + -2280.2223, + 2.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2280.2223, + 2.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "actual_end_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "actual_end_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "actual_end_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "actual_end_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2133.6297, + -110.1302, + 850.0 + ], + "actual_end_pos": [ + -2133.6297, + -110.1302, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2133.6297, + -110.1302, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2083.6297, + -196.7327, + 850.0 + ], + "actual_end_pos": [ + -2083.6297, + -196.7327, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2083.6297, + -196.7327, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2083.6297, + -196.7327, + 850.0 + ], + "actual_end_pos": [ + -2083.6297, + -196.7327, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2083.6297, + -196.7327, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2109.5116, + -100.1401, + 850.0 + ], + "actual_end_pos": [ + -2109.5116, + -100.1401, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2109.5116, + -100.1401, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2083.6297, + -196.7327, + 850.0 + ], + "actual_end_pos": [ + -2083.6297, + -196.7327, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2083.6297, + -196.7327, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2083.6297, + -196.7327, + 850.0 + ], + "actual_end_pos": [ + -2083.6297, + -196.7327, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2083.6297, + -196.7327, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2133.6297, + -110.1302, + 850.0 + ], + "actual_end_pos": [ + -2133.6297, + -110.1302, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2133.6297, + -110.1302, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "actual_end_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "actual_end_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "actual_end_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "actual_end_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2183.6297, + -23.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2280.2223, + 2.3543, + 850.0 + ], + "actual_end_pos": [ + -2280.2223, + 2.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2280.2223, + 2.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2376.8148, + 28.2362, + 850.0 + ], + "actual_end_pos": [ + -2376.8148, + 28.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2376.8148, + 28.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2473.4074, + 54.1181, + 850.0 + ], + "actual_end_pos": [ + -2473.4074, + 54.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2473.4074, + 54.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000317_meta.json b/inverse_hard/run_20260427_001012__traj_000317_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d464b9eaca09a0b0ec5db1359fcd85985c52a637 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000317_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 317, + "episode_id": 0, + "state_id": 67, + "sample_index": 67, + "trajectory_index_at_point": 3, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -220.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "move_left", + "move_right", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2483.3975, + -70.0, + 850.0 + ], + "actual_end_pos": [ + -2483.3975, + -70.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2483.3975, + -70.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2396.7949, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2396.7949, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2396.7949, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2396.7949, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2396.7949, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2396.7949, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2396.7949, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2396.7949, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2483.3975, + 230.0, + 850.0 + ], + "actual_end_pos": [ + -2483.3975, + 230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2483.3975, + 230.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2396.7949, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2396.7949, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2396.7949, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2396.7949, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2396.7949, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2396.7949, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2396.7949, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2396.7949, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2483.3975, + -70.0, + 850.0 + ], + "actual_end_pos": [ + -2483.3975, + -70.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2483.3975, + -70.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000318_meta.json b/inverse_hard/run_20260427_001012__traj_000318_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e070e71ca15f19fbec2f4076769b260436acae54 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000318_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 318, + "episode_id": 0, + "state_id": 67, + "sample_index": 67, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + -220.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "turn_right", + "move_forward", + "move_backward", + "turn_left", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8819, + 83.4074, + 850.0 + ], + "actual_end_pos": [ + -2595.8819, + 83.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2595.8819, + 83.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2551.0531, + 57.5255, + 850.0 + ], + "actual_end_pos": [ + -2551.0531, + 57.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2551.0531, + 57.5255, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2480.3425, + 128.2362, + 850.0 + ], + "actual_end_pos": [ + -2480.3425, + 128.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2480.3425, + 128.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2480.3425, + 128.2362, + 850.0 + ], + "actual_end_pos": [ + -2480.3425, + 128.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2480.3425, + 128.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2530.3425, + 41.6337, + 850.0 + ], + "actual_end_pos": [ + -2530.3425, + 41.6337, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2530.3425, + 41.6337, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2480.3425, + 128.2362, + 850.0 + ], + "actual_end_pos": [ + -2480.3425, + 128.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2480.3425, + 128.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2480.3425, + 128.2362, + 850.0 + ], + "actual_end_pos": [ + -2480.3425, + 128.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2480.3425, + 128.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2551.0531, + 57.5255, + 850.0 + ], + "actual_end_pos": [ + -2551.0531, + 57.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2551.0531, + 57.5255, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2621.7638, + -13.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8819, + 83.4074, + 850.0 + ], + "actual_end_pos": [ + -2595.8819, + 83.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2595.8819, + 83.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000319_meta.json b/inverse_hard/run_20260427_001012__traj_000319_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4a475c7861a0d04aa3f872ab336d1838b110e98d --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000319_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 319, + "episode_id": 0, + "state_id": 68, + "sample_index": 68, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 180.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_right", + "move_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "move_left", + "move_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8819, + -123.4074, + 850.0 + ], + "actual_end_pos": [ + -2595.8819, + -123.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2595.8819, + -123.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + -26.8148, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + -26.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2621.7638, + -26.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + -26.8148, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + -26.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2621.7638, + -26.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2708.3663, + -76.8148, + 850.0 + ], + "actual_end_pos": [ + -2708.3663, + -76.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2708.3663, + -76.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2794.9689, + -126.8148, + 850.0 + ], + "actual_end_pos": [ + -2794.9689, + -126.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2794.9689, + -126.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2881.5714, + -176.8148, + 850.0 + ], + "actual_end_pos": [ + -2881.5714, + -176.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2881.5714, + -176.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2794.9689, + -126.8148, + 850.0 + ], + "actual_end_pos": [ + -2794.9689, + -126.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2794.9689, + -126.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2708.3663, + -76.8148, + 850.0 + ], + "actual_end_pos": [ + -2708.3663, + -76.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2708.3663, + -76.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + -26.8148, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + -26.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2621.7638, + -26.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + -26.8148, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + -26.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2621.7638, + -26.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8819, + -123.4074, + 850.0 + ], + "actual_end_pos": [ + -2595.8819, + -123.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2595.8819, + -123.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000325_meta.json b/inverse_hard/run_20260427_001012__traj_000325_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e4e788eb20736e5a887d3d7c082f51acf6933048 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000325_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 325, + "episode_id": 0, + "state_id": 69, + "sample_index": 69, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 180.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2520.0, + 493.3975, + 850.0 + ], + "actual_end_pos": [ + -2520.0, + 493.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2520.0, + 493.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 406.7949, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 406.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2470.0, + 406.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2420.0, + 320.1924, + 850.0 + ], + "actual_end_pos": [ + -2420.0, + 320.1924, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2420.0, + 320.1924, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2420.0, + 320.1924, + 850.0 + ], + "actual_end_pos": [ + -2420.0, + 320.1924, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2420.0, + 320.1924, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2394.1181, + 223.5998, + 850.0 + ], + "actual_end_pos": [ + -2394.1181, + 223.5998, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2394.1181, + 223.5998, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2368.2362, + 127.0072, + 850.0 + ], + "actual_end_pos": [ + -2368.2362, + 127.0072, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2368.2362, + 127.0072, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2342.3543, + 30.4146, + 850.0 + ], + "actual_end_pos": [ + -2342.3543, + 30.4146, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2342.3543, + 30.4146, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2342.3543, + 30.4146, + 850.0 + ], + "actual_end_pos": [ + -2342.3543, + 30.4146, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2342.3543, + 30.4146, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2342.3543, + 30.4146, + 850.0 + ], + "actual_end_pos": [ + -2342.3543, + 30.4146, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2342.3543, + 30.4146, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2368.2362, + 127.0072, + 850.0 + ], + "actual_end_pos": [ + -2368.2362, + 127.0072, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2368.2362, + 127.0072, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2394.1181, + 223.5998, + 850.0 + ], + "actual_end_pos": [ + -2394.1181, + 223.5998, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2394.1181, + 223.5998, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2420.0, + 320.1924, + 850.0 + ], + "actual_end_pos": [ + -2420.0, + 320.1924, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2420.0, + 320.1924, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2420.0, + 320.1924, + 850.0 + ], + "actual_end_pos": [ + -2420.0, + 320.1924, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2420.0, + 320.1924, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 406.7949, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 406.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2470.0, + 406.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2520.0, + 493.3975, + 850.0 + ], + "actual_end_pos": [ + -2520.0, + 493.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2520.0, + 493.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000327_meta.json b/inverse_hard/run_20260427_001012__traj_000327_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3d26022f4305fb8216c7bd8905a3b1f487b7acaa --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000327_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 327, + "episode_id": 0, + "state_id": 69, + "sample_index": 69, + "trajectory_index_at_point": 3, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 180.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "move_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "move_forward", + "move_backward", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2666.5926, + -145.8819, + 850.0 + ], + "actual_end_pos": [ + -2666.5926, + -145.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2666.5926, + -145.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2763.1851, + -171.7638, + 850.0 + ], + "actual_end_pos": [ + -2763.1851, + -171.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2763.1851, + -171.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2859.7777, + -197.6457, + 850.0 + ], + "actual_end_pos": [ + -2859.7777, + -197.6457, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2859.7777, + -197.6457, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2859.7777, + -197.6457, + 850.0 + ], + "actual_end_pos": [ + -2859.7777, + -197.6457, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2859.7777, + -197.6457, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2859.7777, + -197.6457, + 850.0 + ], + "actual_end_pos": [ + -2859.7777, + -197.6457, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2859.7777, + -197.6457, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2833.8958, + -101.0531, + 850.0 + ], + "actual_end_pos": [ + -2833.8958, + -101.0531, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2833.8958, + -101.0531, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2859.7777, + -197.6457, + 850.0 + ], + "actual_end_pos": [ + -2859.7777, + -197.6457, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2859.7777, + -197.6457, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2859.7777, + -197.6457, + 850.0 + ], + "actual_end_pos": [ + -2859.7777, + -197.6457, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2859.7777, + -197.6457, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2859.7777, + -197.6457, + 850.0 + ], + "actual_end_pos": [ + -2859.7777, + -197.6457, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2859.7777, + -197.6457, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2763.1851, + -171.7638, + 850.0 + ], + "actual_end_pos": [ + -2763.1851, + -171.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2763.1851, + -171.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2666.5926, + -145.8819, + 850.0 + ], + "actual_end_pos": [ + -2666.5926, + -145.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2666.5926, + -145.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000330_meta.json b/inverse_hard/run_20260427_001012__traj_000330_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d140c5d43092398699bd4a72b9e3fbbf03e22e5 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000330_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 330, + "episode_id": 0, + "state_id": 70, + "sample_index": 70, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 180.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "turn_left", + "move_backward", + "move_backward", + "turn_right", + "turn_left", + "move_forward", + "move_forward", + "turn_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2499.2893, + 450.7107, + 850.0 + ], + "actual_end_pos": [ + -2499.2893, + 450.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2499.2893, + 450.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2428.5786, + 521.4214, + 850.0 + ], + "actual_end_pos": [ + -2428.5786, + 521.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2428.5786, + 521.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2428.5786, + 521.4214, + 850.0 + ], + "actual_end_pos": [ + -2428.5786, + 521.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2428.5786, + 521.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2378.5786, + 434.8188, + 850.0 + ], + "actual_end_pos": [ + -2378.5786, + 434.8188, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2378.5786, + 434.8188, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2328.5786, + 348.2163, + 850.0 + ], + "actual_end_pos": [ + -2328.5786, + 348.2163, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2328.5786, + 348.2163, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2328.5786, + 348.2163, + 850.0 + ], + "actual_end_pos": [ + -2328.5786, + 348.2163, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2328.5786, + 348.2163, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2328.5786, + 348.2163, + 850.0 + ], + "actual_end_pos": [ + -2328.5786, + 348.2163, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2328.5786, + 348.2163, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2378.5786, + 434.8188, + 850.0 + ], + "actual_end_pos": [ + -2378.5786, + 434.8188, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2378.5786, + 434.8188, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2428.5786, + 521.4214, + 850.0 + ], + "actual_end_pos": [ + -2428.5786, + 521.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2428.5786, + 521.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2428.5786, + 521.4214, + 850.0 + ], + "actual_end_pos": [ + -2428.5786, + 521.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2428.5786, + 521.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2499.2893, + 450.7107, + 850.0 + ], + "actual_end_pos": [ + -2499.2893, + 450.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2499.2893, + 450.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000334_meta.json b/inverse_hard/run_20260427_001012__traj_000334_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6b9693cd69c9d3150b62bfd3a94e53761fc53b9e --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000334_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 334, + "episode_id": 0, + "state_id": 71, + "sample_index": 71, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 180.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2499.2893, + 409.2893, + 850.0 + ], + "actual_end_pos": [ + -2499.2893, + 409.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2499.2893, + 409.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2428.5786, + 338.5786, + 850.0 + ], + "actual_end_pos": [ + -2428.5786, + 338.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2428.5786, + 338.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2428.5786, + 338.5786, + 850.0 + ], + "actual_end_pos": [ + -2428.5786, + 338.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2428.5786, + 338.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2478.5786, + 425.1812, + 850.0 + ], + "actual_end_pos": [ + -2478.5786, + 425.1812, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2478.5786, + 425.1812, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2528.5786, + 511.7837, + 850.0 + ], + "actual_end_pos": [ + -2528.5786, + 511.7837, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2528.5786, + 511.7837, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2578.5787, + 598.3863, + 850.0 + ], + "actual_end_pos": [ + -2578.5787, + 598.3863, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2578.5787, + 598.3863, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2628.5787, + 684.9888, + 850.0 + ], + "actual_end_pos": [ + -2628.5787, + 684.9888, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2628.5787, + 684.9888, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2578.5787, + 598.3863, + 850.0 + ], + "actual_end_pos": [ + -2578.5787, + 598.3863, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2578.5787, + 598.3863, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2528.5786, + 511.7837, + 850.0 + ], + "actual_end_pos": [ + -2528.5786, + 511.7837, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2528.5786, + 511.7837, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2478.5786, + 425.1812, + 850.0 + ], + "actual_end_pos": [ + -2478.5786, + 425.1812, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2478.5786, + 425.1812, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2428.5786, + 338.5786, + 850.0 + ], + "actual_end_pos": [ + -2428.5786, + 338.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2428.5786, + 338.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2428.5786, + 338.5786, + 850.0 + ], + "actual_end_pos": [ + -2428.5786, + 338.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2428.5786, + 338.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2499.2893, + 409.2893, + 850.0 + ], + "actual_end_pos": [ + -2499.2893, + 409.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2499.2893, + 409.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000339_meta.json b/inverse_hard/run_20260427_001012__traj_000339_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6cf7e3aa7451fcb34e4a604bd01b6c139a5b677f --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000339_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 339, + "episode_id": 0, + "state_id": 72, + "sample_index": 72, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 580.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "turn_left", + "move_forward", + "move_forward", + "move_backward", + "move_backward", + "turn_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8819, + 183.4074, + 850.0 + ], + "actual_end_pos": [ + -2595.8819, + 183.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2595.8819, + 183.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + 86.8148, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + 86.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2621.7638, + 86.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + -9.7777, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + -9.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2647.6457, + -9.7777, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + -9.7777, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + -9.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2647.6457, + -9.7777, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2561.0432, + -59.7777, + 850.0 + ], + "actual_end_pos": [ + -2561.0432, + -59.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2561.0432, + -59.7777, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2474.4406, + -109.7777, + 850.0 + ], + "actual_end_pos": [ + -2474.4406, + -109.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2474.4406, + -109.7777, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2561.0432, + -59.7777, + 850.0 + ], + "actual_end_pos": [ + -2561.0432, + -59.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2561.0432, + -59.7777, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + -9.7777, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + -9.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2647.6457, + -9.7777, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + -9.7777, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + -9.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2647.6457, + -9.7777, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + 86.8148, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + 86.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2621.7638, + 86.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8819, + 183.4074, + 850.0 + ], + "actual_end_pos": [ + -2595.8819, + 183.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2595.8819, + 183.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000342_meta.json b/inverse_hard/run_20260427_001012__traj_000342_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..38b6dbbda7082e6845cdf1ade2625d73de079894 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000342_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 342, + "episode_id": 0, + "state_id": 72, + "sample_index": 72, + "trajectory_index_at_point": 3, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 580.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2483.3975, + 130.0, + 850.0 + ], + "actual_end_pos": [ + -2483.3975, + 130.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2483.3975, + 130.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2493.3875, + 54.1181, + 850.0 + ], + "actual_end_pos": [ + -2493.3875, + 54.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2493.3875, + 54.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2396.7949, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2483.3975, + 130.0, + 850.0 + ], + "actual_end_pos": [ + -2483.3975, + 130.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2483.3975, + 130.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000344_meta.json b/inverse_hard/run_20260427_001012__traj_000344_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..caf67af81b622fe247080e32bcbd0f936e5b3dfa --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000344_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 344, + "episode_id": 0, + "state_id": 73, + "sample_index": 73, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 580.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "move_backward", + "move_backward", + "move_forward", + "move_forward", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8819, + 283.4074, + 850.0 + ], + "actual_end_pos": [ + -2595.8819, + 283.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2595.8819, + 283.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + 186.8148, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + 186.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2621.7638, + 186.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + 90.2223, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + 90.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2647.6457, + 90.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2673.5276, + -6.3703, + 850.0 + ], + "actual_end_pos": [ + -2673.5276, + -6.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2673.5276, + -6.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2673.5276, + -6.3703, + 850.0 + ], + "actual_end_pos": [ + -2673.5276, + -6.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2673.5276, + -6.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2723.5276, + -92.9729, + 850.0 + ], + "actual_end_pos": [ + -2723.5276, + -92.9729, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2723.5276, + -92.9729, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2773.5276, + -179.5754, + 850.0 + ], + "actual_end_pos": [ + -2773.5276, + -179.5754, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2773.5276, + -179.5754, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2723.5276, + -92.9729, + 850.0 + ], + "actual_end_pos": [ + -2723.5276, + -92.9729, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2723.5276, + -92.9729, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2673.5276, + -6.3703, + 850.0 + ], + "actual_end_pos": [ + -2673.5276, + -6.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2673.5276, + -6.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2673.5276, + -6.3703, + 850.0 + ], + "actual_end_pos": [ + -2673.5276, + -6.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2673.5276, + -6.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + 90.2223, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + 90.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2647.6457, + 90.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + 186.8148, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + 186.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2621.7638, + 186.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8819, + 283.4074, + 850.0 + ], + "actual_end_pos": [ + -2595.8819, + 283.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2595.8819, + 283.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000347_meta.json b/inverse_hard/run_20260427_001012__traj_000347_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..acd3450fdc80749d89ee9a2a219ce4bfd6344614 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000347_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 347, + "episode_id": 0, + "state_id": 73, + "sample_index": 73, + "trajectory_index_at_point": 3, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 580.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2640.7107, + 109.2893, + 850.0 + ], + "actual_end_pos": [ + -2640.7107, + 109.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2640.7107, + 109.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2711.4214, + 38.5786, + 850.0 + ], + "actual_end_pos": [ + -2711.4214, + 38.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2711.4214, + 38.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2782.132, + -32.132, + 850.0 + ], + "actual_end_pos": [ + -2782.132, + -32.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2782.132, + -32.132, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2782.132, + -32.132, + 850.0 + ], + "actual_end_pos": [ + -2782.132, + -32.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2782.132, + -32.132, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2782.132, + -32.132, + 850.0 + ], + "actual_end_pos": [ + -2782.132, + -32.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2782.132, + -32.132, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2711.4214, + 38.5786, + 850.0 + ], + "actual_end_pos": [ + -2711.4214, + 38.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2711.4214, + 38.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2640.7107, + 109.2893, + 850.0 + ], + "actual_end_pos": [ + -2640.7107, + 109.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2640.7107, + 109.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000348_meta.json b/inverse_hard/run_20260427_001012__traj_000348_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc438fdbd726edd6e102cfb1868348d5a60c41fe --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000348_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 348, + "episode_id": 0, + "state_id": 73, + "sample_index": 73, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 580.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_right", + "turn_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2499.2893, + 350.7107, + 850.0 + ], + "actual_end_pos": [ + -2499.2893, + 350.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2499.2893, + 350.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2428.5786, + 421.4214, + 850.0 + ], + "actual_end_pos": [ + -2428.5786, + 421.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2428.5786, + 421.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2428.5786, + 421.4214, + 850.0 + ], + "actual_end_pos": [ + -2428.5786, + 421.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2428.5786, + 421.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2428.5786, + 421.4214, + 850.0 + ], + "actual_end_pos": [ + -2428.5786, + 421.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2428.5786, + 421.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2428.5786, + 421.4214, + 850.0 + ], + "actual_end_pos": [ + -2428.5786, + 421.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2428.5786, + 421.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2428.5786, + 421.4214, + 850.0 + ], + "actual_end_pos": [ + -2428.5786, + 421.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2428.5786, + 421.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2499.2893, + 350.7107, + 850.0 + ], + "actual_end_pos": [ + -2499.2893, + 350.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2499.2893, + 350.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000349_meta.json b/inverse_hard/run_20260427_001012__traj_000349_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d3b7ea8275e9595782ff5df799d56040bf393ae9 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000349_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 349, + "episode_id": 0, + "state_id": 74, + "sample_index": 74, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 580.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "turn_left", + "turn_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "turn_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8819, + 376.5926, + 850.0 + ], + "actual_end_pos": [ + -2595.8819, + 376.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2595.8819, + 376.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + 473.1852, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + 473.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2621.7638, + 473.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + 569.7777, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + 569.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2647.6457, + 569.7777, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + 569.7777, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + 569.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2647.6457, + 569.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + 569.7777, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + 569.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2647.6457, + 569.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + 666.3703, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + 666.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2621.7638, + 666.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8819, + 762.9629, + 850.0 + ], + "actual_end_pos": [ + -2595.8819, + 762.9629, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2595.8819, + 762.9629, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8819, + 762.9629, + 850.0 + ], + "actual_end_pos": [ + -2595.8819, + 762.9629, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2595.8819, + 762.9629, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8819, + 762.9629, + 850.0 + ], + "actual_end_pos": [ + -2595.8819, + 762.9629, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2595.8819, + 762.9629, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + 666.3703, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + 666.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2621.7638, + 666.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + 569.7777, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + 569.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2647.6457, + 569.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + 569.7777, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + 569.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2647.6457, + 569.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2647.6457, + 569.7777, + 850.0 + ], + "actual_end_pos": [ + -2647.6457, + 569.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2647.6457, + 569.7777, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + 473.1852, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + 473.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2621.7638, + 473.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8819, + 376.5926, + 850.0 + ], + "actual_end_pos": [ + -2595.8819, + 376.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2595.8819, + 376.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000351_meta.json b/inverse_hard/run_20260427_001012__traj_000351_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..705b70a00d91fb44d46f3b6377fb4dc56f246508 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000351_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 351, + "episode_id": 0, + "state_id": 74, + "sample_index": 74, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 580.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 680.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 680.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2520.0, + 866.6025, + 850.0 + ], + "actual_end_pos": [ + -2520.0, + 866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2520.0, + 866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 953.2051, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 953.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2470.0, + 953.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 953.2051, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 953.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2470.0, + 953.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 953.2051, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 953.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2470.0, + 953.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2520.0, + 1039.8076, + 850.0 + ], + "actual_end_pos": [ + -2520.0, + 1039.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2520.0, + 1039.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 1126.4102, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 1126.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 1126.4102, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2520.0, + 1039.8076, + 850.0 + ], + "actual_end_pos": [ + -2520.0, + 1039.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2520.0, + 1039.8076, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 953.2051, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 953.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2470.0, + 953.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 953.2051, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 953.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2470.0, + 953.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 953.2051, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 953.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2470.0, + 953.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2520.0, + 866.6025, + 850.0 + ], + "actual_end_pos": [ + -2520.0, + 866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2520.0, + 866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 680.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 680.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000354_meta.json b/inverse_hard/run_20260427_001012__traj_000354_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4451aa89bb22a2973d2064d4244af517ab9a9ce0 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000354_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 354, + "episode_id": 0, + "state_id": 75, + "sample_index": 75, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 580.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 680.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2544.1181, + 783.4074, + 850.0 + ], + "actual_end_pos": [ + -2544.1181, + 783.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2544.1181, + 783.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2518.2362, + 686.8148, + 850.0 + ], + "actual_end_pos": [ + -2518.2362, + 686.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2518.2362, + 686.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2492.3543, + 590.2223, + 850.0 + ], + "actual_end_pos": [ + -2492.3543, + 590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2492.3543, + 590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2553.0749, + 543.6297, + 850.0 + ], + "actual_end_pos": [ + -2553.0749, + 543.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2553.0749, + 543.6297, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2466.4724, + 493.6297, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2492.3543, + 590.2223, + 850.0 + ], + "actual_end_pos": [ + -2492.3543, + 590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2492.3543, + 590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2518.2362, + 686.8148, + 850.0 + ], + "actual_end_pos": [ + -2518.2362, + 686.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2518.2362, + 686.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2544.1181, + 783.4074, + 850.0 + ], + "actual_end_pos": [ + -2544.1181, + 783.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2544.1181, + 783.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 680.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000356_meta.json b/inverse_hard/run_20260427_001012__traj_000356_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0bc36f1d3e9dd5e774d8f032274ab034c41d82e3 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000356_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 356, + "episode_id": 0, + "state_id": 75, + "sample_index": 75, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 580.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 680.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8819, + 783.4074, + 850.0 + ], + "actual_end_pos": [ + -2595.8819, + 783.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2595.8819, + 783.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + 686.8148, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + 686.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2621.7638, + 686.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + 686.8148, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + 686.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2621.7638, + 686.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + 686.8148, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + 686.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2621.7638, + 686.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8819, + 590.2223, + 850.0 + ], + "actual_end_pos": [ + -2595.8819, + 590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2595.8819, + 590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 493.6297, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 493.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 493.6297, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 493.6297, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 493.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 493.6297, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 493.6297, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 493.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 493.6297, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 493.6297, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 493.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 493.6297, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 493.6297, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 493.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 493.6297, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 493.6297, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 493.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 493.6297, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 493.6297, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 493.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 493.6297, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8819, + 590.2223, + 850.0 + ], + "actual_end_pos": [ + -2595.8819, + 590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2595.8819, + 590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + 686.8148, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + 686.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2621.7638, + 686.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + 686.8148, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + 686.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2621.7638, + 686.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + 686.8148, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + 686.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2621.7638, + 686.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8819, + 783.4074, + 850.0 + ], + "actual_end_pos": [ + -2595.8819, + 783.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2595.8819, + 783.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 880.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 680.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000365_meta.json b/inverse_hard/run_20260427_001012__traj_000365_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3e7fd3ae5abaa78e211ac4b91678565e5ca85aa2 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000365_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 365, + "episode_id": 0, + "state_id": 77, + "sample_index": 77, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 980.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 1080.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 1080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 1080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2483.3975, + 1230.0, + 850.0 + ], + "actual_end_pos": [ + -2483.3975, + 1230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2483.3975, + 1230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 1280.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 1280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2396.7949, + 1280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2310.1924, + 1330.0, + 850.0 + ], + "actual_end_pos": [ + -2310.1924, + 1330.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2310.1924, + 1330.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2310.1924, + 1330.0, + 850.0 + ], + "actual_end_pos": [ + -2310.1924, + 1330.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2310.1924, + 1330.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2310.1924, + 1330.0, + 850.0 + ], + "actual_end_pos": [ + -2310.1924, + 1330.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2310.1924, + 1330.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2360.1924, + 1243.3975, + 850.0 + ], + "actual_end_pos": [ + -2360.1924, + 1243.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2360.1924, + 1243.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2410.1924, + 1156.7949, + 850.0 + ], + "actual_end_pos": [ + -2410.1924, + 1156.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2410.1924, + 1156.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2460.1924, + 1070.1924, + 850.0 + ], + "actual_end_pos": [ + -2460.1924, + 1070.1924, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2460.1924, + 1070.1924, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2410.1924, + 1156.7949, + 850.0 + ], + "actual_end_pos": [ + -2410.1924, + 1156.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2410.1924, + 1156.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2360.1924, + 1243.3975, + 850.0 + ], + "actual_end_pos": [ + -2360.1924, + 1243.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2360.1924, + 1243.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2310.1924, + 1330.0, + 850.0 + ], + "actual_end_pos": [ + -2310.1924, + 1330.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2310.1924, + 1330.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2310.1924, + 1330.0, + 850.0 + ], + "actual_end_pos": [ + -2310.1924, + 1330.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2310.1924, + 1330.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2310.1924, + 1330.0, + 850.0 + ], + "actual_end_pos": [ + -2310.1924, + 1330.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2310.1924, + 1330.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 1280.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 1280.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2396.7949, + 1280.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2483.3975, + 1230.0, + 850.0 + ], + "actual_end_pos": [ + -2483.3975, + 1230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2483.3975, + 1230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 1080.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 1080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 1080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000367_meta.json b/inverse_hard/run_20260427_001012__traj_000367_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..076557cb402d477c7923fe47be61a59b2f7b2a66 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000367_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 367, + "episode_id": 0, + "state_id": 77, + "sample_index": 77, + "trajectory_index_at_point": 3, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 980.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_left", + "move_right", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 1080.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 1080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 1080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2640.7107, + 1250.7107, + 850.0 + ], + "actual_end_pos": [ + -2640.7107, + 1250.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2640.7107, + 1250.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2711.4213, + 1321.4214, + 850.0 + ], + "actual_end_pos": [ + -2711.4213, + 1321.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2711.4213, + 1321.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2782.132, + 1392.132, + 850.0 + ], + "actual_end_pos": [ + -2782.132, + 1392.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2782.132, + 1392.132, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2852.8427, + 1462.8427, + 850.0 + ], + "actual_end_pos": [ + -2852.8427, + 1462.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2852.8427, + 1462.8427, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2852.8427, + 1462.8427, + 850.0 + ], + "actual_end_pos": [ + -2852.8427, + 1462.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2852.8427, + 1462.8427, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2852.8427, + 1462.8427, + 850.0 + ], + "actual_end_pos": [ + -2852.8427, + 1462.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2852.8427, + 1462.8427, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2826.9608, + 1559.4353, + 850.0 + ], + "actual_end_pos": [ + -2826.9608, + 1559.4353, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2826.9608, + 1559.4353, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2852.8427, + 1462.8427, + 850.0 + ], + "actual_end_pos": [ + -2852.8427, + 1462.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2852.8427, + 1462.8427, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2852.8427, + 1462.8427, + 850.0 + ], + "actual_end_pos": [ + -2852.8427, + 1462.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2852.8427, + 1462.8427, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2852.8427, + 1462.8427, + 850.0 + ], + "actual_end_pos": [ + -2852.8427, + 1462.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2852.8427, + 1462.8427, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2782.132, + 1392.132, + 850.0 + ], + "actual_end_pos": [ + -2782.132, + 1392.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2782.132, + 1392.132, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2711.4213, + 1321.4214, + 850.0 + ], + "actual_end_pos": [ + -2711.4213, + 1321.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2711.4213, + 1321.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2640.7107, + 1250.7107, + 850.0 + ], + "actual_end_pos": [ + -2640.7107, + 1250.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2640.7107, + 1250.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 1080.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 1080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 1080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000376_meta.json b/inverse_hard/run_20260427_001012__traj_000376_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d91561e7f88c0938713be78954bd7f53b00f6955 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000376_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 376, + "episode_id": 0, + "state_id": 84, + "sample_index": 84, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 2580.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2683.3975, + 2530.0, + 850.0 + ], + "actual_end_pos": [ + -2683.3975, + 2530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2683.3975, + 2530.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2596.7949, + 2480.0, + 850.0 + ], + "actual_end_pos": [ + -2596.7949, + 2480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2596.7949, + 2480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2510.1924, + 2430.0, + 850.0 + ], + "actual_end_pos": [ + -2510.1924, + 2430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2510.1924, + 2430.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2423.5898, + 2380.0, + 850.0 + ], + "actual_end_pos": [ + -2423.5898, + 2380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2423.5898, + 2380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2423.5898, + 2380.0, + 850.0 + ], + "actual_end_pos": [ + -2423.5898, + 2380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2423.5898, + 2380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2423.5898, + 2380.0, + 850.0 + ], + "actual_end_pos": [ + -2423.5898, + 2380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2423.5898, + 2380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2423.5898, + 2380.0, + 850.0 + ], + "actual_end_pos": [ + -2423.5898, + 2380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2423.5898, + 2380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2423.5898, + 2380.0, + 850.0 + ], + "actual_end_pos": [ + -2423.5898, + 2380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2423.5898, + 2380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2510.1924, + 2430.0, + 850.0 + ], + "actual_end_pos": [ + -2510.1924, + 2430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2510.1924, + 2430.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2596.7949, + 2480.0, + 850.0 + ], + "actual_end_pos": [ + -2596.7949, + 2480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2596.7949, + 2480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2683.3975, + 2530.0, + 850.0 + ], + "actual_end_pos": [ + -2683.3975, + 2530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2683.3975, + 2530.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000377_meta.json b/inverse_hard/run_20260427_001012__traj_000377_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e1abd848e2a4ffe379359d57a5189bf28fdb5f35 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000377_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 377, + "episode_id": 0, + "state_id": 84, + "sample_index": 84, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 2580.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2073.4074, + 2554.1181, + 850.0 + ], + "actual_end_pos": [ + -2073.4074, + 2554.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2073.4074, + 2554.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1976.8148, + 2528.2362, + 850.0 + ], + "actual_end_pos": [ + -1976.8148, + 2528.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1976.8148, + 2528.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1880.2223, + 2502.3543, + 850.0 + ], + "actual_end_pos": [ + -1880.2223, + 2502.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1880.2223, + 2502.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1783.6297, + 2476.4724, + 850.0 + ], + "actual_end_pos": [ + -1783.6297, + 2476.4724, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1783.6297, + 2476.4724, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1783.6297, + 2476.4724, + 850.0 + ], + "actual_end_pos": [ + -1783.6297, + 2476.4724, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1783.6297, + 2476.4724, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1783.6297, + 2476.4724, + 850.0 + ], + "actual_end_pos": [ + -1783.6297, + 2476.4724, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1783.6297, + 2476.4724, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1854.3403, + 2547.1831, + 850.0 + ], + "actual_end_pos": [ + -1854.3403, + 2547.1831, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1854.3403, + 2547.1831, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1925.051, + 2617.8937, + 850.0 + ], + "actual_end_pos": [ + -1925.051, + 2617.8937, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1925.051, + 2617.8937, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1854.3403, + 2547.1831, + 850.0 + ], + "actual_end_pos": [ + -1854.3403, + 2547.1831, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1854.3403, + 2547.1831, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1783.6297, + 2476.4724, + 850.0 + ], + "actual_end_pos": [ + -1783.6297, + 2476.4724, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1783.6297, + 2476.4724, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1783.6297, + 2476.4724, + 850.0 + ], + "actual_end_pos": [ + -1783.6297, + 2476.4724, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1783.6297, + 2476.4724, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1783.6297, + 2476.4724, + 850.0 + ], + "actual_end_pos": [ + -1783.6297, + 2476.4724, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1783.6297, + 2476.4724, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1880.2223, + 2502.3543, + 850.0 + ], + "actual_end_pos": [ + -1880.2223, + 2502.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1880.2223, + 2502.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1976.8148, + 2528.2362, + 850.0 + ], + "actual_end_pos": [ + -1976.8148, + 2528.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1976.8148, + 2528.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2073.4074, + 2554.1181, + 850.0 + ], + "actual_end_pos": [ + -2073.4074, + 2554.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2073.4074, + 2554.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000382_meta.json b/inverse_hard/run_20260427_001012__traj_000382_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2be351bb086e51bbc29a71cfd456fd0251a451cb --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000382_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 382, + "episode_id": 0, + "state_id": 85, + "sample_index": 85, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 2580.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "turn_left", + "turn_right", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2340.7107, + 2509.2893, + 850.0 + ], + "actual_end_pos": [ + -2340.7107, + 2509.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2340.7107, + 2509.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2411.4214, + 2438.5786, + 850.0 + ], + "actual_end_pos": [ + -2411.4214, + 2438.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2411.4214, + 2438.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2411.4214, + 2438.5786, + 850.0 + ], + "actual_end_pos": [ + -2411.4214, + 2438.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2411.4214, + 2438.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2411.4214, + 2438.5786, + 850.0 + ], + "actual_end_pos": [ + -2411.4214, + 2438.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2411.4214, + 2438.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2314.8288, + 2412.6967, + 850.0 + ], + "actual_end_pos": [ + -2314.8288, + 2412.6967, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2314.8288, + 2412.6967, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2218.2362, + 2386.8148, + 850.0 + ], + "actual_end_pos": [ + -2218.2362, + 2386.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2218.2362, + 2386.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2218.2362, + 2386.8148, + 850.0 + ], + "actual_end_pos": [ + -2218.2362, + 2386.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2218.2362, + 2386.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2218.2362, + 2386.8148, + 850.0 + ], + "actual_end_pos": [ + -2218.2362, + 2386.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2218.2362, + 2386.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2314.8288, + 2412.6967, + 850.0 + ], + "actual_end_pos": [ + -2314.8288, + 2412.6967, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2314.8288, + 2412.6967, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2411.4214, + 2438.5786, + 850.0 + ], + "actual_end_pos": [ + -2411.4214, + 2438.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2411.4214, + 2438.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2411.4214, + 2438.5786, + 850.0 + ], + "actual_end_pos": [ + -2411.4214, + 2438.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2411.4214, + 2438.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2411.4214, + 2438.5786, + 850.0 + ], + "actual_end_pos": [ + -2411.4214, + 2438.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2411.4214, + 2438.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2340.7107, + 2509.2893, + 850.0 + ], + "actual_end_pos": [ + -2340.7107, + 2509.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2340.7107, + 2509.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000383_meta.json b/inverse_hard/run_20260427_001012__traj_000383_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..270fd450ce6ea85a9b82182799cc9cc3cde43d2a --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000383_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 383, + "episode_id": 0, + "state_id": 85, + "sample_index": 85, + "trajectory_index_at_point": 3, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 2580.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2283.3975, + 2630.0, + 850.0 + ], + "actual_end_pos": [ + -2283.3975, + 2630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2283.3975, + 2630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2196.7949, + 2680.0, + 850.0 + ], + "actual_end_pos": [ + -2196.7949, + 2680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2196.7949, + 2680.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2110.1924, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + -2110.1924, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2110.1924, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2110.1924, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + -2110.1924, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2110.1924, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2110.1924, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + -2110.1924, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2110.1924, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2210.1924, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + -2210.1924, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2210.1924, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2310.1924, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + -2310.1924, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2310.1924, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2410.1924, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + -2410.1924, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2410.1924, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2310.1924, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + -2310.1924, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2310.1924, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2210.1924, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + -2210.1924, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2210.1924, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2110.1924, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + -2110.1924, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2110.1924, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2110.1924, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + -2110.1924, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2110.1924, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2110.1924, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + -2110.1924, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2110.1924, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2196.7949, + 2680.0, + 850.0 + ], + "actual_end_pos": [ + -2196.7949, + 2680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2196.7949, + 2680.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2283.3975, + 2630.0, + 850.0 + ], + "actual_end_pos": [ + -2283.3975, + 2630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2283.3975, + 2630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000385_meta.json b/inverse_hard/run_20260427_001012__traj_000385_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5fd2248e116ea6130cda7d4c835e270ac98b8236 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000385_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 385, + "episode_id": 0, + "state_id": 86, + "sample_index": 86, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 2580.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_left", + "move_left", + "turn_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "turn_left", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2120.0, + 2666.6025, + 850.0 + ], + "actual_end_pos": [ + -2120.0, + 2666.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2120.0, + 2666.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + 2753.2051, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + 2753.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2070.0, + 2753.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + 2753.2051, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + 2753.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2070.0, + 2753.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2095.8819, + 2656.6125, + 850.0 + ], + "actual_end_pos": [ + -2095.8819, + 2656.6125, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2095.8819, + 2656.6125, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2121.7638, + 2560.0199, + 850.0 + ], + "actual_end_pos": [ + -2121.7638, + 2560.0199, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2121.7638, + 2560.0199, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2147.6457, + 2463.4273, + 850.0 + ], + "actual_end_pos": [ + -2147.6457, + 2463.4273, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2147.6457, + 2463.4273, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2147.6457, + 2463.4273, + 850.0 + ], + "actual_end_pos": [ + -2147.6457, + 2463.4273, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2147.6457, + 2463.4273, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2147.6457, + 2463.4273, + 850.0 + ], + "actual_end_pos": [ + -2147.6457, + 2463.4273, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2147.6457, + 2463.4273, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2147.6457, + 2463.4273, + 850.0 + ], + "actual_end_pos": [ + -2147.6457, + 2463.4273, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2147.6457, + 2463.4273, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2147.6457, + 2463.4273, + 850.0 + ], + "actual_end_pos": [ + -2147.6457, + 2463.4273, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2147.6457, + 2463.4273, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2121.7638, + 2560.0199, + 850.0 + ], + "actual_end_pos": [ + -2121.7638, + 2560.0199, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2121.7638, + 2560.0199, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2095.8819, + 2656.6125, + 850.0 + ], + "actual_end_pos": [ + -2095.8819, + 2656.6125, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2095.8819, + 2656.6125, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + 2753.2051, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + 2753.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2070.0, + 2753.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + 2753.2051, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + 2753.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2070.0, + 2753.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2120.0, + 2666.6025, + 850.0 + ], + "actual_end_pos": [ + -2120.0, + 2666.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2120.0, + 2666.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2270.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2370.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2470.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000389_meta.json b/inverse_hard/run_20260427_001012__traj_000389_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b7a4aa8b40bf03ad19c3087ebd06043d97d7366d --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000389_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 389, + "episode_id": 0, + "state_id": 86, + "sample_index": 86, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 2580.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 2480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 2380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 2380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 2380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2483.3975, + 2430.0, + 850.0 + ], + "actual_end_pos": [ + -2483.3975, + 2430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2483.3975, + 2430.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 2480.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 2480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2396.7949, + 2480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2310.1924, + 2530.0, + 850.0 + ], + "actual_end_pos": [ + -2310.1924, + 2530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2310.1924, + 2530.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2310.1924, + 2530.0, + 850.0 + ], + "actual_end_pos": [ + -2310.1924, + 2530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2310.1924, + 2530.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2336.0743, + 2626.5926, + 850.0 + ], + "actual_end_pos": [ + -2336.0743, + 2626.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2336.0743, + 2626.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "actual_end_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "actual_end_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "actual_end_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "actual_end_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2411.9562, + 2636.5826, + 850.0 + ], + "actual_end_pos": [ + -2411.9562, + 2636.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2411.9562, + 2636.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2461.9562, + 2549.9801, + 850.0 + ], + "actual_end_pos": [ + -2461.9562, + 2549.9801, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2461.9562, + 2549.9801, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2411.9562, + 2636.5826, + 850.0 + ], + "actual_end_pos": [ + -2411.9562, + 2636.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2411.9562, + 2636.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "actual_end_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "actual_end_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "actual_end_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "actual_end_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2361.9562, + 2723.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2336.0743, + 2626.5926, + 850.0 + ], + "actual_end_pos": [ + -2336.0743, + 2626.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2336.0743, + 2626.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2310.1924, + 2530.0, + 850.0 + ], + "actual_end_pos": [ + -2310.1924, + 2530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2310.1924, + 2530.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2310.1924, + 2530.0, + 850.0 + ], + "actual_end_pos": [ + -2310.1924, + 2530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2310.1924, + 2530.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2396.7949, + 2480.0, + 850.0 + ], + "actual_end_pos": [ + -2396.7949, + 2480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2396.7949, + 2480.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2483.3975, + 2430.0, + 850.0 + ], + "actual_end_pos": [ + -2483.3975, + 2430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2483.3975, + 2430.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 2380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 2380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2380.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 2380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2480.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2480.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 2480.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000391_meta.json b/inverse_hard/run_20260427_001012__traj_000391_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..80870711fa1db2a6883073d95faffd0c43959b72 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000391_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 391, + "episode_id": 0, + "state_id": 87, + "sample_index": 87, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2570.0, + 2580.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2683.3974, + 2630.0, + 850.0 + ], + "actual_end_pos": [ + -2683.3974, + 2630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2683.3974, + 2630.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "actual_end_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "actual_end_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "actual_end_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "actual_end_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2500.2023, + 2654.1181, + 850.0 + ], + "actual_end_pos": [ + -2500.2023, + 2654.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2500.2023, + 2654.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2403.6097, + 2628.2362, + 850.0 + ], + "actual_end_pos": [ + -2403.6097, + 2628.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2403.6097, + 2628.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2403.6097, + 2628.2362, + 850.0 + ], + "actual_end_pos": [ + -2403.6097, + 2628.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2403.6097, + 2628.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2403.6097, + 2628.2362, + 850.0 + ], + "actual_end_pos": [ + -2403.6097, + 2628.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2403.6097, + 2628.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2403.6097, + 2628.2362, + 850.0 + ], + "actual_end_pos": [ + -2403.6097, + 2628.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2403.6097, + 2628.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2403.6097, + 2628.2362, + 850.0 + ], + "actual_end_pos": [ + -2403.6097, + 2628.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2403.6097, + 2628.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2403.6097, + 2628.2362, + 850.0 + ], + "actual_end_pos": [ + -2403.6097, + 2628.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2403.6097, + 2628.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2403.6097, + 2628.2362, + 850.0 + ], + "actual_end_pos": [ + -2403.6097, + 2628.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2403.6097, + 2628.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2500.2023, + 2654.1181, + 850.0 + ], + "actual_end_pos": [ + -2500.2023, + 2654.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2500.2023, + 2654.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "actual_end_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "actual_end_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "actual_end_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "actual_end_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2596.7949, + 2680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2683.3974, + 2630.0, + 850.0 + ], + "actual_end_pos": [ + -2683.3974, + 2630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2683.3974, + 2630.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2770.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2670.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 2580.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000395_meta.json b/inverse_hard/run_20260427_001012__traj_000395_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e593f3d7af35899c69a0ab6ac93f6c871f3a90f1 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000395_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 395, + "episode_id": 0, + "state_id": 88, + "sample_index": 88, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -4220.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "turn_left", + "turn_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2070.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1870.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1699.2893, + -4290.7107, + 850.0 + ], + "actual_end_pos": [ + -1699.2893, + -4290.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1699.2893, + -4290.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1628.5786, + -4361.4214, + 850.0 + ], + "actual_end_pos": [ + -1628.5786, + -4361.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1628.5786, + -4361.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1628.5786, + -4361.4214, + 850.0 + ], + "actual_end_pos": [ + -1628.5786, + -4361.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1628.5786, + -4361.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1628.5786, + -4361.4214, + 850.0 + ], + "actual_end_pos": [ + -1628.5786, + -4361.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1628.5786, + -4361.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1699.2893, + -4290.7107, + 850.0 + ], + "actual_end_pos": [ + -1699.2893, + -4290.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1699.2893, + -4290.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1770.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1870.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2070.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000397_meta.json b/inverse_hard/run_20260427_001012__traj_000397_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..17ed73585b19cfca100035e3f39caef4c984dd45 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000397_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 397, + "episode_id": 0, + "state_id": 88, + "sample_index": 88, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -4220.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "turn_right", + "turn_left", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2473.4074, + -4245.8819, + 850.0 + ], + "actual_end_pos": [ + -2473.4074, + -4245.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2473.4074, + -4245.8819, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "actual_end_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "actual_end_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "actual_end_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "actual_end_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2426.8148, + -4185.1613, + 850.0 + ], + "actual_end_pos": [ + -2426.8148, + -4185.1613, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2426.8148, + -4185.1613, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2476.8148, + -4098.5587, + 850.0 + ], + "actual_end_pos": [ + -2476.8148, + -4098.5587, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2476.8148, + -4098.5587, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2476.8148, + -4098.5587, + 850.0 + ], + "actual_end_pos": [ + -2476.8148, + -4098.5587, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2476.8148, + -4098.5587, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2476.8148, + -4098.5587, + 850.0 + ], + "actual_end_pos": [ + -2476.8148, + -4098.5587, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2476.8148, + -4098.5587, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2426.8148, + -4185.1613, + 850.0 + ], + "actual_end_pos": [ + -2426.8148, + -4185.1613, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2426.8148, + -4185.1613, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "actual_end_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "actual_end_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "actual_end_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "actual_end_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2376.8148, + -4271.7638, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2473.4074, + -4245.8819, + 850.0 + ], + "actual_end_pos": [ + -2473.4074, + -4245.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2473.4074, + -4245.8819, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000399_meta.json b/inverse_hard/run_20260427_001012__traj_000399_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..698481035cda696b2fc79791703bf92fb24651bc --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000399_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 399, + "episode_id": 0, + "state_id": 88, + "sample_index": 88, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -4220.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_right", + "move_right", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2070.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2020.0, + -4133.3975, + 850.0 + ], + "actual_end_pos": [ + -2020.0, + -4133.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2020.0, + -4133.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -4046.7949, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -4046.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2070.0, + -4046.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -4046.7949, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -4046.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2070.0, + -4046.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2166.5926, + -4072.6768, + 850.0 + ], + "actual_end_pos": [ + -2166.5926, + -4072.6768, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2166.5926, + -4072.6768, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2263.1852, + -4098.5587, + 850.0 + ], + "actual_end_pos": [ + -2263.1852, + -4098.5587, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2263.1852, + -4098.5587, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2359.7777, + -4124.4406, + 850.0 + ], + "actual_end_pos": [ + -2359.7777, + -4124.4406, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2359.7777, + -4124.4406, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2263.1852, + -4098.5587, + 850.0 + ], + "actual_end_pos": [ + -2263.1852, + -4098.5587, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2263.1852, + -4098.5587, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2166.5926, + -4072.6768, + 850.0 + ], + "actual_end_pos": [ + -2166.5926, + -4072.6768, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2166.5926, + -4072.6768, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -4046.7949, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -4046.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2070.0, + -4046.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -4046.7949, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -4046.7949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2070.0, + -4046.7949, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2020.0, + -4133.3975, + 850.0 + ], + "actual_end_pos": [ + -2020.0, + -4133.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2020.0, + -4133.3975, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1970.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2070.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000401_meta.json b/inverse_hard/run_20260427_001012__traj_000401_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f36d2dd1f27467ba8e42073962e72f1a2413ac75 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000401_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 401, + "episode_id": 0, + "state_id": 89, + "sample_index": 89, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -4220.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "turn_right", + "move_left", + "move_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_right", + "move_right", + "turn_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2373.4074, + -4194.1181, + 850.0 + ], + "actual_end_pos": [ + -2373.4074, + -4194.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2373.4074, + -4194.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2276.8148, + -4168.2362, + 850.0 + ], + "actual_end_pos": [ + -2276.8148, + -4168.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2276.8148, + -4168.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2276.8148, + -4168.2362, + 850.0 + ], + "actual_end_pos": [ + -2276.8148, + -4168.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2276.8148, + -4168.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2176.8148, + -4168.2362, + 850.0 + ], + "actual_end_pos": [ + -2176.8148, + -4168.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2176.8148, + -4168.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2076.8148, + -4168.2362, + 850.0 + ], + "actual_end_pos": [ + -2076.8148, + -4168.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2076.8148, + -4168.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1976.8148, + -4168.2362, + 850.0 + ], + "actual_end_pos": [ + -1976.8148, + -4168.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1976.8148, + -4168.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2076.8148, + -4168.2362, + 850.0 + ], + "actual_end_pos": [ + -2076.8148, + -4168.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2076.8148, + -4168.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2176.8148, + -4168.2362, + 850.0 + ], + "actual_end_pos": [ + -2176.8148, + -4168.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2176.8148, + -4168.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2276.8148, + -4168.2362, + 850.0 + ], + "actual_end_pos": [ + -2276.8148, + -4168.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2276.8148, + -4168.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2276.8148, + -4168.2362, + 850.0 + ], + "actual_end_pos": [ + -2276.8148, + -4168.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2276.8148, + -4168.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2373.4074, + -4194.1181, + 850.0 + ], + "actual_end_pos": [ + -2373.4074, + -4194.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2373.4074, + -4194.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000407_meta.json b/inverse_hard/run_20260427_001012__traj_000407_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f7c8d83cdbe3e5cc477183013181ad7c3ddfcfeb --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000407_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 407, + "episode_id": 0, + "state_id": 90, + "sample_index": 90, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -4220.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_left", + "move_left", + "move_left", + "move_right", + "move_right", + "move_right", + "turn_left", + "move_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2640.7106, + -4149.2893, + 850.0 + ], + "actual_end_pos": [ + -2640.7106, + -4149.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2640.7106, + -4149.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2711.4213, + -4078.5786, + 850.0 + ], + "actual_end_pos": [ + -2711.4213, + -4078.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2711.4213, + -4078.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2782.132, + -4007.868, + 850.0 + ], + "actual_end_pos": [ + -2782.132, + -4007.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2782.132, + -4007.868, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2782.132, + -4007.868, + 850.0 + ], + "actual_end_pos": [ + -2782.132, + -4007.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2782.132, + -4007.868, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2868.7345, + -3957.868, + 850.0 + ], + "actual_end_pos": [ + -2868.7345, + -3957.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2868.7345, + -3957.868, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2955.3371, + -3907.868, + 850.0 + ], + "actual_end_pos": [ + -2955.3371, + -3907.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2955.3371, + -3907.868, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3041.9396, + -3857.868, + 850.0 + ], + "actual_end_pos": [ + -3041.9396, + -3857.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3041.9396, + -3857.868, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2955.3371, + -3907.868, + 850.0 + ], + "actual_end_pos": [ + -2955.3371, + -3907.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2955.3371, + -3907.868, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2868.7345, + -3957.868, + 850.0 + ], + "actual_end_pos": [ + -2868.7345, + -3957.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2868.7345, + -3957.868, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2782.132, + -4007.868, + 850.0 + ], + "actual_end_pos": [ + -2782.132, + -4007.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2782.132, + -4007.868, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2782.132, + -4007.868, + 850.0 + ], + "actual_end_pos": [ + -2782.132, + -4007.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2782.132, + -4007.868, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2711.4213, + -4078.5786, + 850.0 + ], + "actual_end_pos": [ + -2711.4213, + -4078.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2711.4213, + -4078.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2640.7106, + -4149.2893, + 850.0 + ], + "actual_end_pos": [ + -2640.7106, + -4149.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2640.7106, + -4149.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2470.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2370.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2270.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000417_meta.json b/inverse_hard/run_20260427_001012__traj_000417_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8bcfad00bc2147229e49ae6d9c346527c935d43b --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000417_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 417, + "episode_id": 0, + "state_id": 92, + "sample_index": 92, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -3820.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "turn_right", + "move_left", + "move_left", + "turn_right", + "turn_left", + "move_right", + "move_right", + "turn_left", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2399.2893, + -3890.7107, + 850.0 + ], + "actual_end_pos": [ + -2399.2893, + -3890.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2399.2893, + -3890.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2328.5786, + -3961.4214, + 850.0 + ], + "actual_end_pos": [ + -2328.5786, + -3961.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2328.5786, + -3961.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2328.5786, + -3961.4214, + 850.0 + ], + "actual_end_pos": [ + -2328.5786, + -3961.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2328.5786, + -3961.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2378.5786, + -4048.0239, + 850.0 + ], + "actual_end_pos": [ + -2378.5786, + -4048.0239, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2378.5786, + -4048.0239, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2428.5786, + -4134.6264, + 850.0 + ], + "actual_end_pos": [ + -2428.5786, + -4134.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2428.5786, + -4134.6264, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2428.5786, + -4134.6264, + 850.0 + ], + "actual_end_pos": [ + -2428.5786, + -4134.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2428.5786, + -4134.6264, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2428.5786, + -4134.6264, + 850.0 + ], + "actual_end_pos": [ + -2428.5786, + -4134.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2428.5786, + -4134.6264, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2378.5786, + -4048.0239, + 850.0 + ], + "actual_end_pos": [ + -2378.5786, + -4048.0239, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2378.5786, + -4048.0239, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2328.5786, + -3961.4214, + 850.0 + ], + "actual_end_pos": [ + -2328.5786, + -3961.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2328.5786, + -3961.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2328.5786, + -3961.4214, + 850.0 + ], + "actual_end_pos": [ + -2328.5786, + -3961.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2328.5786, + -3961.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2399.2893, + -3890.7107, + 850.0 + ], + "actual_end_pos": [ + -2399.2893, + -3890.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2399.2893, + -3890.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000418_meta.json b/inverse_hard/run_20260427_001012__traj_000418_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c0ec65180e6a0e00fdefd33949fcb05b59af3e92 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000418_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 418, + "episode_id": 0, + "state_id": 92, + "sample_index": 92, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -3820.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2540.7107, + -3890.7107, + 850.0 + ], + "actual_end_pos": [ + -2540.7107, + -3890.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2540.7107, + -3890.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2611.4214, + -3961.4214, + 850.0 + ], + "actual_end_pos": [ + -2611.4214, + -3961.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2611.4214, + -3961.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2682.132, + -4032.132, + 850.0 + ], + "actual_end_pos": [ + -2682.132, + -4032.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2682.132, + -4032.132, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2752.8427, + -4102.8427, + 850.0 + ], + "actual_end_pos": [ + -2752.8427, + -4102.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2752.8427, + -4102.8427, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2682.132, + -4032.132, + 850.0 + ], + "actual_end_pos": [ + -2682.132, + -4032.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2682.132, + -4032.132, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2611.4214, + -3961.4214, + 850.0 + ], + "actual_end_pos": [ + -2611.4214, + -3961.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2611.4214, + -3961.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2540.7107, + -3890.7107, + 850.0 + ], + "actual_end_pos": [ + -2540.7107, + -3890.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2540.7107, + -3890.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000419_meta.json b/inverse_hard/run_20260427_001012__traj_000419_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1226674a365d0ccc569cd8a96b29cb29658e4e40 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000419_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 419, + "episode_id": 0, + "state_id": 92, + "sample_index": 92, + "trajectory_index_at_point": 3, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -3820.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "turn_right", + "turn_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3920.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + -3920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + -4020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2099.2893, + -4149.2893, + 850.0 + ], + "actual_end_pos": [ + -2099.2893, + -4149.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2099.2893, + -4149.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2028.5786, + -4078.5786, + 850.0 + ], + "actual_end_pos": [ + -2028.5786, + -4078.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2028.5786, + -4078.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2028.5786, + -4078.5786, + 850.0 + ], + "actual_end_pos": [ + -2028.5786, + -4078.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2028.5786, + -4078.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2028.5786, + -4078.5786, + 850.0 + ], + "actual_end_pos": [ + -2028.5786, + -4078.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2028.5786, + -4078.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2099.2893, + -4149.2893, + 850.0 + ], + "actual_end_pos": [ + -2099.2893, + -4149.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2099.2893, + -4149.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + -4020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3920.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + -3920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000421_meta.json b/inverse_hard/run_20260427_001012__traj_000421_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7e4e08c0a02c2dd0108ae85f85522e3438594874 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000421_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 421, + "episode_id": 0, + "state_id": 93, + "sample_index": 93, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -3820.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "turn_left", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "turn_right", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3920.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -3920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -4020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2256.6025, + -4170.0, + 850.0 + ], + "actual_end_pos": [ + -2256.6025, + -4170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2256.6025, + -4170.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2343.2051, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2343.2051, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2343.2051, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2429.8076, + -4070.0, + 850.0 + ], + "actual_end_pos": [ + -2429.8076, + -4070.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2429.8076, + -4070.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2429.8076, + -4070.0, + 850.0 + ], + "actual_end_pos": [ + -2429.8076, + -4070.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2429.8076, + -4070.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2359.0969, + -3999.2893, + 850.0 + ], + "actual_end_pos": [ + -2359.0969, + -3999.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2359.0969, + -3999.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "actual_end_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "actual_end_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "actual_end_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "actual_end_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2388.3863, + -3928.5786, + 850.0 + ], + "actual_end_pos": [ + -2388.3863, + -3928.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2388.3863, + -3928.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "actual_end_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "actual_end_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "actual_end_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "actual_end_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2288.3863, + -3928.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2359.0969, + -3999.2893, + 850.0 + ], + "actual_end_pos": [ + -2359.0969, + -3999.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2359.0969, + -3999.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2429.8076, + -4070.0, + 850.0 + ], + "actual_end_pos": [ + -2429.8076, + -4070.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2429.8076, + -4070.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2429.8076, + -4070.0, + 850.0 + ], + "actual_end_pos": [ + -2429.8076, + -4070.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2429.8076, + -4070.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2343.2051, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2343.2051, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2343.2051, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2256.6025, + -4170.0, + 850.0 + ], + "actual_end_pos": [ + -2256.6025, + -4170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2256.6025, + -4170.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -4220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4120.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -4120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -4020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -4020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -4020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3920.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3920.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -3920.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000422_meta.json b/inverse_hard/run_20260427_001012__traj_000422_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bbaf1ee7ed39d0fa2fc4383ebd8c602d987bc1cc --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000422_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 422, + "episode_id": 0, + "state_id": 93, + "sample_index": 93, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -3820.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2344.1181, + -3723.4074, + 850.0 + ], + "actual_end_pos": [ + -2344.1181, + -3723.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2344.1181, + -3723.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2318.2362, + -3626.8148, + 850.0 + ], + "actual_end_pos": [ + -2318.2362, + -3626.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2318.2362, + -3626.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "actual_end_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "actual_end_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "actual_end_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "actual_end_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2378.9568, + -3580.2222, + 850.0 + ], + "actual_end_pos": [ + -2378.9568, + -3580.2222, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2378.9568, + -3580.2222, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2465.5594, + -3630.2222, + 850.0 + ], + "actual_end_pos": [ + -2465.5594, + -3630.2222, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2465.5594, + -3630.2222, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2552.1619, + -3680.2222, + 850.0 + ], + "actual_end_pos": [ + -2552.1619, + -3680.2222, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2552.1619, + -3680.2222, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2552.1619, + -3680.2222, + 850.0 + ], + "actual_end_pos": [ + -2552.1619, + -3680.2222, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2552.1619, + -3680.2222, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2552.1619, + -3680.2222, + 850.0 + ], + "actual_end_pos": [ + -2552.1619, + -3680.2222, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2552.1619, + -3680.2222, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2552.1619, + -3680.2222, + 850.0 + ], + "actual_end_pos": [ + -2552.1619, + -3680.2222, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2552.1619, + -3680.2222, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2552.1619, + -3680.2222, + 850.0 + ], + "actual_end_pos": [ + -2552.1619, + -3680.2222, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2552.1619, + -3680.2222, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2465.5594, + -3630.2222, + 850.0 + ], + "actual_end_pos": [ + -2465.5594, + -3630.2222, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2465.5594, + -3630.2222, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2378.9568, + -3580.2222, + 850.0 + ], + "actual_end_pos": [ + -2378.9568, + -3580.2222, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2378.9568, + -3580.2222, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "actual_end_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "actual_end_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "actual_end_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "actual_end_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2292.3543, + -3530.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2318.2362, + -3626.8148, + 850.0 + ], + "actual_end_pos": [ + -2318.2362, + -3626.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2318.2362, + -3626.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2344.1181, + -3723.4074, + 850.0 + ], + "actual_end_pos": [ + -2344.1181, + -3723.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2344.1181, + -3723.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000424_meta.json b/inverse_hard/run_20260427_001012__traj_000424_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ccff348705c2133f744ebda8ad6e64e76bbae0fc --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000424_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 424, + "episode_id": 0, + "state_id": 93, + "sample_index": 93, + "trajectory_index_at_point": 3, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -3820.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2544.1181, + -3916.5926, + 850.0 + ], + "actual_end_pos": [ + -2544.1181, + -3916.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2544.1181, + -3916.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2518.2362, + -4013.1852, + 850.0 + ], + "actual_end_pos": [ + -2518.2362, + -4013.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2518.2362, + -4013.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2492.3543, + -4109.7777, + 850.0 + ], + "actual_end_pos": [ + -2492.3543, + -4109.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2492.3543, + -4109.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2516.4724, + -4292.9729, + 850.0 + ], + "actual_end_pos": [ + -2516.4724, + -4292.9729, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2516.4724, + -4292.9729, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2566.4724, + -4379.5754, + 850.0 + ], + "actual_end_pos": [ + -2566.4724, + -4379.5754, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2566.4724, + -4379.5754, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2616.4724, + -4466.1779, + 850.0 + ], + "actual_end_pos": [ + -2616.4724, + -4466.1779, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2616.4724, + -4466.1779, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2566.4724, + -4379.5754, + 850.0 + ], + "actual_end_pos": [ + -2566.4724, + -4379.5754, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2566.4724, + -4379.5754, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2516.4724, + -4292.9729, + 850.0 + ], + "actual_end_pos": [ + -2516.4724, + -4292.9729, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2516.4724, + -4292.9729, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "actual_end_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2466.4724, + -4206.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2492.3543, + -4109.7777, + 850.0 + ], + "actual_end_pos": [ + -2492.3543, + -4109.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2492.3543, + -4109.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2518.2362, + -4013.1852, + 850.0 + ], + "actual_end_pos": [ + -2518.2362, + -4013.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2518.2362, + -4013.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2544.1181, + -3916.5926, + 850.0 + ], + "actual_end_pos": [ + -2544.1181, + -3916.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2544.1181, + -3916.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2570.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2470.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2370.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2270.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000443_meta.json b/inverse_hard/run_20260427_001012__traj_000443_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dcca4068c7af3fb685489d853ab4dbe494b8561a --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000443_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 443, + "episode_id": 0, + "state_id": 97, + "sample_index": 97, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -3020.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3120.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -3120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3320.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3320.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + -3320.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3320.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3320.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + -3320.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3320.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3320.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + -3320.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2256.6025, + -3270.0, + 850.0 + ], + "actual_end_pos": [ + -2256.6025, + -3270.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2256.6025, + -3270.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2343.205, + -3220.0, + 850.0 + ], + "actual_end_pos": [ + -2343.205, + -3220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2343.205, + -3220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2429.8076, + -3170.0, + 850.0 + ], + "actual_end_pos": [ + -2429.8076, + -3170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2429.8076, + -3170.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2429.8076, + -3170.0, + 850.0 + ], + "actual_end_pos": [ + -2429.8076, + -3170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2429.8076, + -3170.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2429.8076, + -3170.0, + 850.0 + ], + "actual_end_pos": [ + -2429.8076, + -3170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2429.8076, + -3170.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2429.8076, + -3170.0, + 850.0 + ], + "actual_end_pos": [ + -2429.8076, + -3170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2429.8076, + -3170.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2429.8076, + -3170.0, + 850.0 + ], + "actual_end_pos": [ + -2429.8076, + -3170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2429.8076, + -3170.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2429.8076, + -3170.0, + 850.0 + ], + "actual_end_pos": [ + -2429.8076, + -3170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2429.8076, + -3170.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2429.8076, + -3170.0, + 850.0 + ], + "actual_end_pos": [ + -2429.8076, + -3170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2429.8076, + -3170.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2343.205, + -3220.0, + 850.0 + ], + "actual_end_pos": [ + -2343.205, + -3220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2343.205, + -3220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2256.6025, + -3270.0, + 850.0 + ], + "actual_end_pos": [ + -2256.6025, + -3270.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2256.6025, + -3270.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3320.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3320.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + -3320.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3320.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3320.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + -3320.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3320.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3320.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -3320.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3120.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -3120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000444_meta.json b/inverse_hard/run_20260427_001012__traj_000444_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..509770e080258ef7897d1949986bf37a1b8ae8f6 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000444_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 444, + "episode_id": 0, + "state_id": 97, + "sample_index": 97, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -3020.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "turn_right", + "move_left", + "move_left", + "move_left", + "turn_left", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "turn_right", + "move_right", + "move_right", + "move_right", + "turn_left", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2070.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1970.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1773.4074, + -2994.1181, + 850.0 + ], + "actual_end_pos": [ + -1773.4074, + -2994.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1773.4074, + -2994.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1676.8148, + -2968.2362, + 850.0 + ], + "actual_end_pos": [ + -1676.8148, + -2968.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1676.8148, + -2968.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1580.2222, + -2942.3543, + 850.0 + ], + "actual_end_pos": [ + -1580.2222, + -2942.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1580.2222, + -2942.3543, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1580.2222, + -2942.3543, + 850.0 + ], + "actual_end_pos": [ + -1580.2222, + -2942.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1580.2222, + -2942.3543, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1680.2222, + -2942.3543, + 850.0 + ], + "actual_end_pos": [ + -1680.2222, + -2942.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1680.2222, + -2942.3543, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "actual_end_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "actual_end_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "actual_end_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "actual_end_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1850.9329, + -2871.6436, + 850.0 + ], + "actual_end_pos": [ + -1850.9329, + -2871.6436, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1850.9329, + -2871.6436, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1921.6436, + -2800.9329, + 850.0 + ], + "actual_end_pos": [ + -1921.6436, + -2800.9329, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1921.6436, + -2800.9329, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1992.3542, + -2730.2222, + 850.0 + ], + "actual_end_pos": [ + -1992.3542, + -2730.2222, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1992.3542, + -2730.2222, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1921.6436, + -2800.9329, + 850.0 + ], + "actual_end_pos": [ + -1921.6436, + -2800.9329, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1921.6436, + -2800.9329, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1850.9329, + -2871.6436, + 850.0 + ], + "actual_end_pos": [ + -1850.9329, + -2871.6436, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1850.9329, + -2871.6436, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "actual_end_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "actual_end_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "actual_end_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "actual_end_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1780.2222, + -2942.3543, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1680.2222, + -2942.3543, + 850.0 + ], + "actual_end_pos": [ + -1680.2222, + -2942.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1680.2222, + -2942.3543, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1580.2222, + -2942.3543, + 850.0 + ], + "actual_end_pos": [ + -1580.2222, + -2942.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1580.2222, + -2942.3543, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1580.2222, + -2942.3543, + 850.0 + ], + "actual_end_pos": [ + -1580.2222, + -2942.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1580.2222, + -2942.3543, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1676.8148, + -2968.2362, + 850.0 + ], + "actual_end_pos": [ + -1676.8148, + -2968.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1676.8148, + -2968.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1773.4074, + -2994.1181, + 850.0 + ], + "actual_end_pos": [ + -1773.4074, + -2994.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1773.4074, + -2994.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1970.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2070.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000445_meta.json b/inverse_hard/run_20260427_001012__traj_000445_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ff94b0826c8f52afc5a48c6034c27370af6e6b0 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000445_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 445, + "episode_id": 0, + "state_id": 97, + "sample_index": 97, + "trajectory_index_at_point": 3, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -3020.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "move_backward", + "move_backward", + "turn_left", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2070.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1970.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1895.8819, + -2923.4074, + 850.0 + ], + "actual_end_pos": [ + -1895.8819, + -2923.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1895.8819, + -2923.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1921.7638, + -2826.8148, + 850.0 + ], + "actual_end_pos": [ + -1921.7638, + -2826.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1921.7638, + -2826.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1921.7638, + -2826.8148, + 850.0 + ], + "actual_end_pos": [ + -1921.7638, + -2826.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1921.7638, + -2826.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1871.7638, + -2913.4174, + 850.0 + ], + "actual_end_pos": [ + -1871.7638, + -2913.4174, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1871.7638, + -2913.4174, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1821.7638, + -3000.0199, + 850.0 + ], + "actual_end_pos": [ + -1821.7638, + -3000.0199, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1821.7638, + -3000.0199, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1771.7638, + -3086.6224, + 850.0 + ], + "actual_end_pos": [ + -1771.7638, + -3086.6224, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1771.7638, + -3086.6224, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1771.7638, + -3086.6224, + 850.0 + ], + "actual_end_pos": [ + -1771.7638, + -3086.6224, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1771.7638, + -3086.6224, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1771.7638, + -3086.6224, + 850.0 + ], + "actual_end_pos": [ + -1771.7638, + -3086.6224, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1771.7638, + -3086.6224, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1771.7638, + -3086.6224, + 850.0 + ], + "actual_end_pos": [ + -1771.7638, + -3086.6224, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1771.7638, + -3086.6224, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1771.7638, + -3086.6224, + 850.0 + ], + "actual_end_pos": [ + -1771.7638, + -3086.6224, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1771.7638, + -3086.6224, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1821.7638, + -3000.0199, + 850.0 + ], + "actual_end_pos": [ + -1821.7638, + -3000.0199, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1821.7638, + -3000.0199, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1871.7638, + -2913.4174, + 850.0 + ], + "actual_end_pos": [ + -1871.7638, + -2913.4174, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1871.7638, + -2913.4174, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1921.7638, + -2826.8148, + 850.0 + ], + "actual_end_pos": [ + -1921.7638, + -2826.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1921.7638, + -2826.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1921.7638, + -2826.8148, + 850.0 + ], + "actual_end_pos": [ + -1921.7638, + -2826.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1921.7638, + -2826.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1895.8819, + -2923.4074, + 850.0 + ], + "actual_end_pos": [ + -1895.8819, + -2923.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1895.8819, + -2923.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1870.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1970.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2070.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000447_meta.json b/inverse_hard/run_20260427_001012__traj_000447_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e3f70e0d6e79b4bc0a859532bb808473760caed3 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000447_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 447, + "episode_id": 0, + "state_id": 98, + "sample_index": 98, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -3020.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3120.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + -3120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2099.2893, + -3290.7107, + 850.0 + ], + "actual_end_pos": [ + -2099.2893, + -3290.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2099.2893, + -3290.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2028.5786, + -3361.4213, + 850.0 + ], + "actual_end_pos": [ + -2028.5786, + -3361.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2028.5786, + -3361.4213, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2028.5786, + -3361.4213, + 850.0 + ], + "actual_end_pos": [ + -2028.5786, + -3361.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2028.5786, + -3361.4213, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2028.5786, + -3361.4213, + 850.0 + ], + "actual_end_pos": [ + -2028.5786, + -3361.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2028.5786, + -3361.4213, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2002.6967, + -3264.8288, + 850.0 + ], + "actual_end_pos": [ + -2002.6967, + -3264.8288, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2002.6967, + -3264.8288, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1976.8148, + -3168.2362, + 850.0 + ], + "actual_end_pos": [ + -1976.8148, + -3168.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1976.8148, + -3168.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1950.9329, + -3071.6436, + 850.0 + ], + "actual_end_pos": [ + -1950.9329, + -3071.6436, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1950.9329, + -3071.6436, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1976.8148, + -3168.2362, + 850.0 + ], + "actual_end_pos": [ + -1976.8148, + -3168.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1976.8148, + -3168.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2002.6967, + -3264.8288, + 850.0 + ], + "actual_end_pos": [ + -2002.6967, + -3264.8288, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2002.6967, + -3264.8288, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2028.5786, + -3361.4213, + 850.0 + ], + "actual_end_pos": [ + -2028.5786, + -3361.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2028.5786, + -3361.4213, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2028.5786, + -3361.4213, + 850.0 + ], + "actual_end_pos": [ + -2028.5786, + -3361.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2028.5786, + -3361.4213, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2028.5786, + -3361.4213, + 850.0 + ], + "actual_end_pos": [ + -2028.5786, + -3361.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2028.5786, + -3361.4213, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2099.2893, + -3290.7107, + 850.0 + ], + "actual_end_pos": [ + -2099.2893, + -3290.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2099.2893, + -3290.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + -3220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3120.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + -3120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000454_meta.json b/inverse_hard/run_20260427_001012__traj_000454_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7ebbfc205383567f9f50a900bb0217d59ff36a9d --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000454_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 454, + "episode_id": 0, + "state_id": 99, + "sample_index": 99, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -3020.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "turn_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2069.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2069.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2069.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1969.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -1969.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1969.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1869.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -1869.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1869.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1869.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -1869.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1869.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1966.5925, + -2994.1181, + 850.0 + ], + "actual_end_pos": [ + -1966.5925, + -2994.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1966.5925, + -2994.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2063.1851, + -2968.2362, + 850.0 + ], + "actual_end_pos": [ + -2063.1851, + -2968.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2063.1851, + -2968.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2159.7777, + -2942.3543, + 850.0 + ], + "actual_end_pos": [ + -2159.7777, + -2942.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2159.7777, + -2942.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2159.7777, + -2942.3543, + 850.0 + ], + "actual_end_pos": [ + -2159.7777, + -2942.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2159.7777, + -2942.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2159.7777, + -3042.3543, + 850.0 + ], + "actual_end_pos": [ + -2159.7777, + -3042.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2159.7777, + -3042.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2159.7777, + -3142.3543, + 850.0 + ], + "actual_end_pos": [ + -2159.7777, + -3142.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2159.7777, + -3142.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "actual_end_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "actual_end_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "actual_end_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "actual_end_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2089.067, + -3313.0649, + 850.0 + ], + "actual_end_pos": [ + -2089.067, + -3313.0649, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2089.067, + -3313.0649, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2018.3563, + -3383.7756, + 850.0 + ], + "actual_end_pos": [ + -2018.3563, + -3383.7756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2018.3563, + -3383.7756, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2089.067, + -3313.0649, + 850.0 + ], + "actual_end_pos": [ + -2089.067, + -3313.0649, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2089.067, + -3313.0649, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "actual_end_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "actual_end_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "actual_end_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "actual_end_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2159.7777, + -3242.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2159.7777, + -3142.3543, + 850.0 + ], + "actual_end_pos": [ + -2159.7777, + -3142.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2159.7777, + -3142.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2159.7777, + -3042.3543, + 850.0 + ], + "actual_end_pos": [ + -2159.7777, + -3042.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2159.7777, + -3042.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2159.7777, + -2942.3543, + 850.0 + ], + "actual_end_pos": [ + -2159.7777, + -2942.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2159.7777, + -2942.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2159.7777, + -2942.3543, + 850.0 + ], + "actual_end_pos": [ + -2159.7777, + -2942.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2159.7777, + -2942.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2063.1851, + -2968.2362, + 850.0 + ], + "actual_end_pos": [ + -2063.1851, + -2968.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2063.1851, + -2968.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1966.5925, + -2994.1181, + 850.0 + ], + "actual_end_pos": [ + -1966.5925, + -2994.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1966.5925, + -2994.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1869.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -1869.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1869.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1869.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -1869.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1869.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1969.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -1969.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1969.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2069.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2069.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2069.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000456_meta.json b/inverse_hard/run_20260427_001012__traj_000456_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ca0a1feb70f25b8912294d373ee193f1b21d7fb --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000456_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 456, + "episode_id": 0, + "state_id": 99, + "sample_index": 99, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -3020.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3120.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2169.9999, + -3120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3220.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2169.9999, + -3220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2240.7106, + -3249.2893, + 850.0 + ], + "actual_end_pos": [ + -2240.7106, + -3249.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2240.7106, + -3249.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2311.4213, + -3178.5786, + 850.0 + ], + "actual_end_pos": [ + -2311.4213, + -3178.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2311.4213, + -3178.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "actual_end_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "actual_end_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "actual_end_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "actual_end_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2282.1319, + -3107.8679, + 850.0 + ], + "actual_end_pos": [ + -2282.1319, + -3107.8679, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2282.1319, + -3107.8679, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2182.1319, + -3107.8679, + 850.0 + ], + "actual_end_pos": [ + -2182.1319, + -3107.8679, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2182.1319, + -3107.8679, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2082.1319, + -3107.8679, + 850.0 + ], + "actual_end_pos": [ + -2082.1319, + -3107.8679, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2082.1319, + -3107.8679, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2182.1319, + -3107.8679, + 850.0 + ], + "actual_end_pos": [ + -2182.1319, + -3107.8679, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2182.1319, + -3107.8679, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2282.1319, + -3107.8679, + 850.0 + ], + "actual_end_pos": [ + -2282.1319, + -3107.8679, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2282.1319, + -3107.8679, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "actual_end_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "actual_end_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "actual_end_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "actual_end_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2382.1319, + -3107.8679, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2311.4213, + -3178.5786, + 850.0 + ], + "actual_end_pos": [ + -2311.4213, + -3178.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2311.4213, + -3178.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2240.7106, + -3249.2893, + 850.0 + ], + "actual_end_pos": [ + -2240.7106, + -3249.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2240.7106, + -3249.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2169.9999, + -3320.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3220.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2169.9999, + -3220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3120.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2169.9999, + -3120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + -3020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000462_meta.json b/inverse_hard/run_20260427_001012__traj_000462_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0c180caf7b2eb579d8becbbd2c5c051809427671 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000462_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 462, + "episode_id": 0, + "state_id": 102, + "sample_index": 102, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -1020.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "move_left", + "move_left", + "move_right", + "move_right", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2070.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1940.7107, + -949.2893, + 850.0 + ], + "actual_end_pos": [ + -1940.7107, + -949.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1940.7107, + -949.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2011.4214, + -878.5786, + 850.0 + ], + "actual_end_pos": [ + -2011.4214, + -878.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2011.4214, + -878.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2082.132, + -807.868, + 850.0 + ], + "actual_end_pos": [ + -2082.132, + -807.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2082.132, + -807.868, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2152.8427, + -737.1573, + 850.0 + ], + "actual_end_pos": [ + -2152.8427, + -737.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2152.8427, + -737.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2152.8427, + -737.1573, + 850.0 + ], + "actual_end_pos": [ + -2152.8427, + -737.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2152.8427, + -737.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2102.8427, + -650.5548, + 850.0 + ], + "actual_end_pos": [ + -2102.8427, + -650.5548, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2102.8427, + -650.5548, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2052.8427, + -563.9522, + 850.0 + ], + "actual_end_pos": [ + -2052.8427, + -563.9522, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2052.8427, + -563.9522, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2102.8427, + -650.5548, + 850.0 + ], + "actual_end_pos": [ + -2102.8427, + -650.5548, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2102.8427, + -650.5548, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2152.8427, + -737.1573, + 850.0 + ], + "actual_end_pos": [ + -2152.8427, + -737.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2152.8427, + -737.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2152.8427, + -737.1573, + 850.0 + ], + "actual_end_pos": [ + -2152.8427, + -737.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2152.8427, + -737.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2082.132, + -807.868, + 850.0 + ], + "actual_end_pos": [ + -2082.132, + -807.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2082.132, + -807.868, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2011.4214, + -878.5786, + 850.0 + ], + "actual_end_pos": [ + -2011.4214, + -878.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2011.4214, + -878.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1940.7107, + -949.2893, + 850.0 + ], + "actual_end_pos": [ + -1940.7107, + -949.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1940.7107, + -949.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1870.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1970.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2070.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -1020.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000484_meta.json b/inverse_hard/run_20260427_001012__traj_000484_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..beb64190e30896f444f07e785288ff007e6fb878 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000484_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 484, + "episode_id": 0, + "state_id": 107, + "sample_index": 107, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -620.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -720.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -720.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -720.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2099.2893, + -890.7107, + 850.0 + ], + "actual_end_pos": [ + -2099.2893, + -890.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2099.2893, + -890.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2028.5786, + -961.4214, + 850.0 + ], + "actual_end_pos": [ + -2028.5786, + -961.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2028.5786, + -961.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "actual_end_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "actual_end_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "actual_end_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "actual_end_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2057.868, + -1032.132, + 850.0 + ], + "actual_end_pos": [ + -2057.868, + -1032.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2057.868, + -1032.132, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "actual_end_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "actual_end_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "actual_end_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "actual_end_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1957.868, + -1032.132, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2028.5786, + -961.4214, + 850.0 + ], + "actual_end_pos": [ + -2028.5786, + -961.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2028.5786, + -961.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2099.2893, + -890.7107, + 850.0 + ], + "actual_end_pos": [ + -2099.2893, + -890.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2099.2893, + -890.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -720.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -720.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -720.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000485_meta.json b/inverse_hard/run_20260427_001012__traj_000485_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e7329f96a5b10700bbde76fb711eb44c330cfcab --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000485_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 485, + "episode_id": 0, + "state_id": 108, + "sample_index": 108, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -220.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "move_forward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1899.2893, + -149.2893, + 850.0 + ], + "actual_end_pos": [ + -1899.2893, + -149.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1899.2893, + -149.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1828.5786, + -78.5786, + 850.0 + ], + "actual_end_pos": [ + -1828.5786, + -78.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1828.5786, + -78.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1757.868, + -7.868, + 850.0 + ], + "actual_end_pos": [ + -1757.868, + -7.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1757.868, + -7.868, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1757.868, + -7.868, + 850.0 + ], + "actual_end_pos": [ + -1757.868, + -7.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1757.868, + -7.868, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1757.868, + -7.868, + 850.0 + ], + "actual_end_pos": [ + -1757.868, + -7.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1757.868, + -7.868, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1854.4605, + -33.7499, + 850.0 + ], + "actual_end_pos": [ + -1854.4605, + -33.7499, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1854.4605, + -33.7499, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1757.868, + -7.868, + 850.0 + ], + "actual_end_pos": [ + -1757.868, + -7.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1757.868, + -7.868, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1757.868, + -7.868, + 850.0 + ], + "actual_end_pos": [ + -1757.868, + -7.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1757.868, + -7.868, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1757.868, + -7.868, + 850.0 + ], + "actual_end_pos": [ + -1757.868, + -7.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1757.868, + -7.868, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1828.5786, + -78.5786, + 850.0 + ], + "actual_end_pos": [ + -1828.5786, + -78.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1828.5786, + -78.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1899.2893, + -149.2893, + 850.0 + ], + "actual_end_pos": [ + -1899.2893, + -149.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1899.2893, + -149.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000487_meta.json b/inverse_hard/run_20260427_001012__traj_000487_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d84da84452abd12839e118ac641b3c9aa06314a1 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000487_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 487, + "episode_id": 0, + "state_id": 108, + "sample_index": 108, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -220.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "turn_right", + "move_backward", + "move_backward", + "move_forward", + "move_forward", + "turn_left", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1956.6025, + -170.0, + 850.0 + ], + "actual_end_pos": [ + -1956.6025, + -170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1956.6025, + -170.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2043.2051, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2043.2051, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2043.2051, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2043.2051, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2043.2051, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2043.2051, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2139.7977, + -94.1181, + 850.0 + ], + "actual_end_pos": [ + -2139.7977, + -94.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2139.7977, + -94.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2236.3902, + -68.2362, + 850.0 + ], + "actual_end_pos": [ + -2236.3902, + -68.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2236.3902, + -68.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2139.7977, + -94.1181, + 850.0 + ], + "actual_end_pos": [ + -2139.7977, + -94.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2139.7977, + -94.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2043.2051, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2043.2051, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2043.2051, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2043.2051, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2043.2051, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2043.2051, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1956.6025, + -170.0, + 850.0 + ], + "actual_end_pos": [ + -1956.6025, + -170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1956.6025, + -170.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000488_meta.json b/inverse_hard/run_20260427_001012__traj_000488_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..18827c51c175c3162a5c5cd8d3d1b21d284a84cf --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000488_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 488, + "episode_id": 0, + "state_id": 108, + "sample_index": 108, + "trajectory_index_at_point": 3, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -220.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1699.2893, + -149.2893, + 850.0 + ], + "actual_end_pos": [ + -1699.2893, + -149.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1699.2893, + -149.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1628.5786, + -78.5786, + 850.0 + ], + "actual_end_pos": [ + -1628.5786, + -78.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1628.5786, + -78.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1557.868, + -7.868, + 850.0 + ], + "actual_end_pos": [ + -1557.868, + -7.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1557.868, + -7.868, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1487.1573, + 62.8427, + 850.0 + ], + "actual_end_pos": [ + -1487.1573, + 62.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1487.1573, + 62.8427, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1487.1573, + 62.8427, + 850.0 + ], + "actual_end_pos": [ + -1487.1573, + 62.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1487.1573, + 62.8427, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1487.1573, + 62.8427, + 850.0 + ], + "actual_end_pos": [ + -1487.1573, + 62.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1487.1573, + 62.8427, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1557.868, + -7.868, + 850.0 + ], + "actual_end_pos": [ + -1557.868, + -7.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1557.868, + -7.868, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1628.5786, + -78.5786, + 850.0 + ], + "actual_end_pos": [ + -1628.5786, + -78.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1628.5786, + -78.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1699.2893, + -149.2893, + 850.0 + ], + "actual_end_pos": [ + -1699.2893, + -149.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1699.2893, + -149.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000496_meta.json b/inverse_hard/run_20260427_001012__traj_000496_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc260218c4de01e2aa5758d2106da8efd50331b5 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000496_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 496, + "episode_id": 0, + "state_id": 110, + "sample_index": 110, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -220.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "turn_left", + "move_backward", + "move_forward", + "turn_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1699.2893, + -149.2894, + 850.0 + ], + "actual_end_pos": [ + -1699.2893, + -149.2894, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1699.2893, + -149.2894, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "actual_end_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1557.8679, + -7.868, + 850.0 + ], + "actual_end_pos": [ + -1557.8679, + -7.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1557.8679, + -7.868, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1557.8679, + -7.868, + 850.0 + ], + "actual_end_pos": [ + -1557.8679, + -7.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1557.8679, + -7.868, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1507.8679, + -94.4705, + 850.0 + ], + "actual_end_pos": [ + -1507.8679, + -94.4705, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1507.8679, + -94.4705, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1557.8679, + -7.868, + 850.0 + ], + "actual_end_pos": [ + -1557.8679, + -7.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1557.8679, + -7.868, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1557.8679, + -7.868, + 850.0 + ], + "actual_end_pos": [ + -1557.8679, + -7.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1557.8679, + -7.868, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "actual_end_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1699.2893, + -149.2894, + 850.0 + ], + "actual_end_pos": [ + -1699.2893, + -149.2894, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1699.2893, + -149.2894, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000497_meta.json b/inverse_hard/run_20260427_001012__traj_000497_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ac28abfbcd37443034d50cd2b1237f55b11e95f3 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000497_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 497, + "episode_id": 0, + "state_id": 110, + "sample_index": 110, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -220.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_right", + "move_right", + "turn_left", + "turn_left", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1699.2893, + -149.2894, + 850.0 + ], + "actual_end_pos": [ + -1699.2893, + -149.2894, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1699.2893, + -149.2894, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "actual_end_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "actual_end_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "actual_end_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1602.6967, + 18.0139, + 850.0 + ], + "actual_end_pos": [ + -1602.6967, + 18.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1602.6967, + 18.0139, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1576.8148, + 114.6065, + 850.0 + ], + "actual_end_pos": [ + -1576.8148, + 114.6065, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1576.8148, + 114.6065, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1602.6967, + 18.0139, + 850.0 + ], + "actual_end_pos": [ + -1602.6967, + 18.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1602.6967, + 18.0139, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "actual_end_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "actual_end_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "actual_end_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1628.5786, + -78.5787, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1699.2893, + -149.2894, + 850.0 + ], + "actual_end_pos": [ + -1699.2893, + -149.2894, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1699.2893, + -149.2894, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1770.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1870.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1970.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2070.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000500_meta.json b/inverse_hard/run_20260427_001012__traj_000500_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c95f98d7b1105bbf813e73e3dafcb4271853765 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000500_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 500, + "episode_id": 0, + "state_id": 111, + "sample_index": 111, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -220.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "turn_right", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_right", + "move_right", + "turn_right", + "move_right", + "move_left", + "turn_left", + "move_left", + "move_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_left", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2266.5926, + -45.8819, + 850.0 + ], + "actual_end_pos": [ + -2266.5926, + -45.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2266.5926, + -45.8819, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2363.1852, + -71.7638, + 850.0 + ], + "actual_end_pos": [ + -2363.1852, + -71.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2363.1852, + -71.7638, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2459.7777, + -97.6457, + 850.0 + ], + "actual_end_pos": [ + -2459.7777, + -97.6457, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2459.7777, + -97.6457, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2556.3703, + -123.5276, + 850.0 + ], + "actual_end_pos": [ + -2556.3703, + -123.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2556.3703, + -123.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2556.3703, + -123.5276, + 850.0 + ], + "actual_end_pos": [ + -2556.3703, + -123.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2556.3703, + -123.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2469.7678, + -73.5276, + 850.0 + ], + "actual_end_pos": [ + -2469.7678, + -73.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2469.7678, + -73.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2383.1653, + -23.5276, + 850.0 + ], + "actual_end_pos": [ + -2383.1653, + -23.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2383.1653, + -23.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2383.1653, + -23.5276, + 850.0 + ], + "actual_end_pos": [ + -2383.1653, + -23.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2383.1653, + -23.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2312.4546, + 47.1831, + 850.0 + ], + "actual_end_pos": [ + -2312.4546, + 47.1831, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2312.4546, + 47.1831, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2383.1653, + -23.5276, + 850.0 + ], + "actual_end_pos": [ + -2383.1653, + -23.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2383.1653, + -23.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2383.1653, + -23.5276, + 850.0 + ], + "actual_end_pos": [ + -2383.1653, + -23.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2383.1653, + -23.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2469.7678, + -73.5276, + 850.0 + ], + "actual_end_pos": [ + -2469.7678, + -73.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2469.7678, + -73.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2556.3703, + -123.5276, + 850.0 + ], + "actual_end_pos": [ + -2556.3703, + -123.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2556.3703, + -123.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2556.3703, + -123.5276, + 850.0 + ], + "actual_end_pos": [ + -2556.3703, + -123.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2556.3703, + -123.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2459.7777, + -97.6457, + 850.0 + ], + "actual_end_pos": [ + -2459.7777, + -97.6457, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2459.7777, + -97.6457, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2363.1852, + -71.7638, + 850.0 + ], + "actual_end_pos": [ + -2363.1852, + -71.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2363.1852, + -71.7638, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2266.5926, + -45.8819, + 850.0 + ], + "actual_end_pos": [ + -2266.5926, + -45.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2266.5926, + -45.8819, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000501_meta.json b/inverse_hard/run_20260427_001012__traj_000501_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..412285c184aba2c54695ae60d2ed46c66222ed16 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000501_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 501, + "episode_id": 0, + "state_id": 111, + "sample_index": 111, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + -220.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2240.7107, + 109.2893, + 850.0 + ], + "actual_end_pos": [ + -2240.7107, + 109.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2240.7107, + 109.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2311.4214, + 38.5786, + 850.0 + ], + "actual_end_pos": [ + -2311.4214, + 38.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2311.4214, + 38.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2311.4214, + 38.5786, + 850.0 + ], + "actual_end_pos": [ + -2311.4214, + 38.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2311.4214, + 38.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2311.4214, + 38.5786, + 850.0 + ], + "actual_end_pos": [ + -2311.4214, + 38.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2311.4214, + 38.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2214.8288, + 64.4605, + 850.0 + ], + "actual_end_pos": [ + -2214.8288, + 64.4605, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2214.8288, + 64.4605, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2118.2362, + 90.3425, + 850.0 + ], + "actual_end_pos": [ + -2118.2362, + 90.3425, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2118.2362, + 90.3425, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2021.6436, + 116.2244, + 850.0 + ], + "actual_end_pos": [ + -2021.6436, + 116.2244, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2021.6436, + 116.2244, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2021.6436, + 116.2244, + 850.0 + ], + "actual_end_pos": [ + -2021.6436, + 116.2244, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2021.6436, + 116.2244, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2021.6436, + 116.2244, + 850.0 + ], + "actual_end_pos": [ + -2021.6436, + 116.2244, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2021.6436, + 116.2244, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2021.6436, + 116.2244, + 850.0 + ], + "actual_end_pos": [ + -2021.6436, + 116.2244, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2021.6436, + 116.2244, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2021.6436, + 116.2244, + 850.0 + ], + "actual_end_pos": [ + -2021.6436, + 116.2244, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2021.6436, + 116.2244, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2118.2362, + 90.3425, + 850.0 + ], + "actual_end_pos": [ + -2118.2362, + 90.3425, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2118.2362, + 90.3425, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2214.8288, + 64.4605, + 850.0 + ], + "actual_end_pos": [ + -2214.8288, + 64.4605, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2214.8288, + 64.4605, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2311.4214, + 38.5786, + 850.0 + ], + "actual_end_pos": [ + -2311.4214, + 38.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2311.4214, + 38.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2311.4214, + 38.5786, + 850.0 + ], + "actual_end_pos": [ + -2311.4214, + 38.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2311.4214, + 38.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2311.4214, + 38.5786, + 850.0 + ], + "actual_end_pos": [ + -2311.4214, + 38.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2311.4214, + 38.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2240.7107, + 109.2893, + 850.0 + ], + "actual_end_pos": [ + -2240.7107, + 109.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2240.7107, + 109.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000508_meta.json b/inverse_hard/run_20260427_001012__traj_000508_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5de822d3ad6552b4e8feb40fef2017f47495474a --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000508_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 508, + "episode_id": 0, + "state_id": 112, + "sample_index": 112, + "trajectory_index_at_point": 3, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + 180.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2270.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2383.3975, + 130.0, + 850.0 + ], + "actual_end_pos": [ + -2383.3975, + 130.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2383.3975, + 130.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2296.7949, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2296.7949, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2296.7949, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2296.7949, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2296.7949, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2296.7949, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2296.7949, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2296.7949, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2296.7949, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2246.7949, + -6.6025, + 850.0 + ], + "actual_end_pos": [ + -2246.7949, + -6.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2246.7949, + -6.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2196.7949, + -93.2051, + 850.0 + ], + "actual_end_pos": [ + -2196.7949, + -93.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2196.7949, + -93.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2146.7949, + -179.8076, + 850.0 + ], + "actual_end_pos": [ + -2146.7949, + -179.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2146.7949, + -179.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2096.7949, + -266.4102, + 850.0 + ], + "actual_end_pos": [ + -2096.7949, + -266.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2096.7949, + -266.4102, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2096.7949, + -266.4102, + 850.0 + ], + "actual_end_pos": [ + -2096.7949, + -266.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2096.7949, + -266.4102, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2096.7949, + -266.4102, + 850.0 + ], + "actual_end_pos": [ + -2096.7949, + -266.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2096.7949, + -266.4102, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2096.7949, + -266.4102, + 850.0 + ], + "actual_end_pos": [ + -2096.7949, + -266.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2096.7949, + -266.4102, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2096.7949, + -266.4102, + 850.0 + ], + "actual_end_pos": [ + -2096.7949, + -266.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2096.7949, + -266.4102, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2096.7949, + -266.4102, + 850.0 + ], + "actual_end_pos": [ + -2096.7949, + -266.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2096.7949, + -266.4102, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2096.7949, + -266.4102, + 850.0 + ], + "actual_end_pos": [ + -2096.7949, + -266.4102, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2096.7949, + -266.4102, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2146.7949, + -179.8076, + 850.0 + ], + "actual_end_pos": [ + -2146.7949, + -179.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2146.7949, + -179.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2196.7949, + -93.2051, + 850.0 + ], + "actual_end_pos": [ + -2196.7949, + -93.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2196.7949, + -93.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2246.7949, + -6.6025, + 850.0 + ], + "actual_end_pos": [ + -2246.7949, + -6.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2246.7949, + -6.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2296.7949, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2296.7949, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2296.7949, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2296.7949, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2296.7949, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2296.7949, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2296.7949, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2296.7949, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2296.7949, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2383.3975, + 130.0, + 850.0 + ], + "actual_end_pos": [ + -2383.3975, + 130.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2383.3975, + 130.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2270.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000509_meta.json b/inverse_hard/run_20260427_001012__traj_000509_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6999a55c1415862a3f46497e997e0f9d1de284ff --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000509_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 509, + "episode_id": 0, + "state_id": 112, + "sample_index": 112, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + 180.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_left", + "move_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "move_right", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2120.0, + -306.6025, + 850.0 + ], + "actual_end_pos": [ + -2120.0, + -306.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2120.0, + -306.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -393.2051, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -393.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2070.0, + -393.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -393.2051, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -393.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2070.0, + -393.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2095.8819, + -296.6125, + 850.0 + ], + "actual_end_pos": [ + -2095.8819, + -296.6125, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2095.8819, + -296.6125, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2121.7638, + -200.0199, + 850.0 + ], + "actual_end_pos": [ + -2121.7638, + -200.0199, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2121.7638, + -200.0199, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2147.6457, + -103.4273, + 850.0 + ], + "actual_end_pos": [ + -2147.6457, + -103.4273, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2147.6457, + -103.4273, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2173.5276, + -6.8348, + 850.0 + ], + "actual_end_pos": [ + -2173.5276, + -6.8348, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2173.5276, + -6.8348, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2147.6457, + -103.4273, + 850.0 + ], + "actual_end_pos": [ + -2147.6457, + -103.4273, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2147.6457, + -103.4273, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2121.7638, + -200.0199, + 850.0 + ], + "actual_end_pos": [ + -2121.7638, + -200.0199, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2121.7638, + -200.0199, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2095.8819, + -296.6125, + 850.0 + ], + "actual_end_pos": [ + -2095.8819, + -296.6125, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2095.8819, + -296.6125, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -393.2051, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -393.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2070.0, + -393.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + -393.2051, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + -393.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2070.0, + -393.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2120.0, + -306.6025, + 850.0 + ], + "actual_end_pos": [ + -2120.0, + -306.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2120.0, + -306.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000511_meta.json b/inverse_hard/run_20260427_001012__traj_000511_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..43be5fbcaf60917d5f01b9351bf83478c6f8ef49 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000511_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 511, + "episode_id": 0, + "state_id": 113, + "sample_index": 113, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + 180.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2195.8819, + -123.4074, + 850.0 + ], + "actual_end_pos": [ + -2195.8819, + -123.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2195.8819, + -123.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2221.7638, + -26.8148, + 850.0 + ], + "actual_end_pos": [ + -2221.7638, + -26.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2221.7638, + -26.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2247.6457, + 69.7777, + 850.0 + ], + "actual_end_pos": [ + -2247.6457, + 69.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2247.6457, + 69.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2273.5276, + 166.3703, + 850.0 + ], + "actual_end_pos": [ + -2273.5276, + 166.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2273.5276, + 166.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2273.5276, + 166.3703, + 850.0 + ], + "actual_end_pos": [ + -2273.5276, + 166.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2273.5276, + 166.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2273.5276, + 166.3703, + 850.0 + ], + "actual_end_pos": [ + -2273.5276, + 166.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2273.5276, + 166.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2273.5276, + 166.3703, + 850.0 + ], + "actual_end_pos": [ + -2273.5276, + 166.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2273.5276, + 166.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2273.5276, + 166.3703, + 850.0 + ], + "actual_end_pos": [ + -2273.5276, + 166.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2273.5276, + 166.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2247.6457, + 69.7777, + 850.0 + ], + "actual_end_pos": [ + -2247.6457, + 69.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2247.6457, + 69.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2221.7638, + -26.8148, + 850.0 + ], + "actual_end_pos": [ + -2221.7638, + -26.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2221.7638, + -26.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2195.8819, + -123.4074, + 850.0 + ], + "actual_end_pos": [ + -2195.8819, + -123.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2195.8819, + -123.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000515_meta.json b/inverse_hard/run_20260427_001012__traj_000515_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..54247ea04c77970e4770d45202dda7296ea8de24 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000515_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 515, + "episode_id": 0, + "state_id": 114, + "sample_index": 114, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + 180.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2270.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2456.6025, + 130.0, + 850.0 + ], + "actual_end_pos": [ + -2456.6025, + 130.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2456.6025, + 130.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2543.2051, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2543.2051, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2543.2051, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2629.8076, + 30.0, + 850.0 + ], + "actual_end_pos": [ + -2629.8076, + 30.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2629.8076, + 30.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2629.8076, + 30.0, + 850.0 + ], + "actual_end_pos": [ + -2629.8076, + 30.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2629.8076, + 30.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2629.8076, + 30.0, + 850.0 + ], + "actual_end_pos": [ + -2629.8076, + 30.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2629.8076, + 30.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2629.8076, + 30.0, + 850.0 + ], + "actual_end_pos": [ + -2629.8076, + 30.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2629.8076, + 30.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2629.8076, + 30.0, + 850.0 + ], + "actual_end_pos": [ + -2629.8076, + 30.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2629.8076, + 30.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2629.8076, + 30.0, + 850.0 + ], + "actual_end_pos": [ + -2629.8076, + 30.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2629.8076, + 30.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2629.8076, + 30.0, + 850.0 + ], + "actual_end_pos": [ + -2629.8076, + 30.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2629.8076, + 30.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2543.2051, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2543.2051, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2543.2051, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2456.6025, + 130.0, + 850.0 + ], + "actual_end_pos": [ + -2456.6025, + 130.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2456.6025, + 130.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2270.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000518_meta.json b/inverse_hard/run_20260427_001012__traj_000518_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..12de4de9db6b7c8adb12a82526b51461a44e4f65 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000518_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 518, + "episode_id": 0, + "state_id": 114, + "sample_index": 114, + "trajectory_index_at_point": 3, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + 180.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_left", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2099.2893, + -149.2893, + 850.0 + ], + "actual_end_pos": [ + -2099.2893, + -149.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2099.2893, + -149.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2028.5787, + -78.5786, + 850.0 + ], + "actual_end_pos": [ + -2028.5787, + -78.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2028.5787, + -78.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1957.868, + -7.868, + 850.0 + ], + "actual_end_pos": [ + -1957.868, + -7.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1957.868, + -7.868, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1957.868, + -7.868, + 850.0 + ], + "actual_end_pos": [ + -1957.868, + -7.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1957.868, + -7.868, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -1957.868, + -7.868, + 850.0 + ], + "actual_end_pos": [ + -1957.868, + -7.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1957.868, + -7.868, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2028.5787, + -78.5786, + 850.0 + ], + "actual_end_pos": [ + -2028.5787, + -78.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2028.5787, + -78.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2099.2893, + -149.2893, + 850.0 + ], + "actual_end_pos": [ + -2099.2893, + -149.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2099.2893, + -149.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + -220.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + -120.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + 80.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000520_meta.json b/inverse_hard/run_20260427_001012__traj_000520_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99a806c3d3ef2922b2dd0ff349a33db120198aff --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000520_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 520, + "episode_id": 0, + "state_id": 115, + "sample_index": 115, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + 180.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "move_left", + "turn_left", + "move_backward", + "move_backward", + "turn_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "turn_left", + "move_forward", + "move_forward", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2270.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2544.1181, + 276.5926, + 850.0 + ], + "actual_end_pos": [ + -2544.1181, + 276.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2544.1181, + 276.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2518.2362, + 373.1852, + 850.0 + ], + "actual_end_pos": [ + -2518.2362, + 373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2518.2362, + 373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2518.2362, + 373.1852, + 850.0 + ], + "actual_end_pos": [ + -2518.2362, + 373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2518.2362, + 373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2418.2362, + 373.1852, + 850.0 + ], + "actual_end_pos": [ + -2418.2362, + 373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2418.2362, + 373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "actual_end_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "actual_end_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "actual_end_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "actual_end_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2388.9469, + 443.8958, + 850.0 + ], + "actual_end_pos": [ + -2388.9469, + 443.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2388.9469, + 443.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2459.6576, + 514.6065, + 850.0 + ], + "actual_end_pos": [ + -2459.6576, + 514.6065, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2459.6576, + 514.6065, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2530.3682, + 585.3172, + 850.0 + ], + "actual_end_pos": [ + -2530.3682, + 585.3172, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2530.3682, + 585.3172, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2459.6576, + 514.6065, + 850.0 + ], + "actual_end_pos": [ + -2459.6576, + 514.6065, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2459.6576, + 514.6065, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2388.9469, + 443.8958, + 850.0 + ], + "actual_end_pos": [ + -2388.9469, + 443.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2388.9469, + 443.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "actual_end_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "actual_end_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "actual_end_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "actual_end_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2318.2362, + 373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2418.2362, + 373.1852, + 850.0 + ], + "actual_end_pos": [ + -2418.2362, + 373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2418.2362, + 373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2518.2362, + 373.1852, + 850.0 + ], + "actual_end_pos": [ + -2518.2362, + 373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2518.2362, + 373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2518.2362, + 373.1852, + 850.0 + ], + "actual_end_pos": [ + -2518.2362, + 373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2518.2362, + 373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2544.1181, + 276.5926, + 850.0 + ], + "actual_end_pos": [ + -2544.1181, + 276.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2544.1181, + 276.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2570.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2470.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2370.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2270.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000529_meta.json b/inverse_hard/run_20260427_001012__traj_000529_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a70127befb079ad519b3292e48f87e5d809b2333 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000529_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 529, + "episode_id": 0, + "state_id": 116, + "sample_index": 116, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + 1380.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "turn_left", + "move_left", + "move_left", + "turn_right", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "move_right", + "move_right", + "turn_right", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2270.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2395.8819, + 1283.4074, + 850.0 + ], + "actual_end_pos": [ + -2395.8819, + 1283.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2395.8819, + 1283.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2421.7638, + 1186.8148, + 850.0 + ], + "actual_end_pos": [ + -2421.7638, + 1186.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2421.7638, + 1186.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2421.7638, + 1186.8148, + 850.0 + ], + "actual_end_pos": [ + -2421.7638, + 1186.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2421.7638, + 1186.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2521.7638, + 1186.8148, + 850.0 + ], + "actual_end_pos": [ + -2521.7638, + 1186.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2521.7638, + 1186.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + 1186.8148, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + 1186.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2621.7638, + 1186.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + 1186.8148, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + 1186.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2621.7638, + 1186.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + 1186.8148, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + 1186.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2621.7638, + 1186.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + 1186.8148, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + 1186.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2621.7638, + 1186.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2621.7638, + 1186.8148, + 850.0 + ], + "actual_end_pos": [ + -2621.7638, + 1186.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2621.7638, + 1186.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2521.7638, + 1186.8148, + 850.0 + ], + "actual_end_pos": [ + -2521.7638, + 1186.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2521.7638, + 1186.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2421.7638, + 1186.8148, + 850.0 + ], + "actual_end_pos": [ + -2421.7638, + 1186.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2421.7638, + 1186.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2421.7638, + 1186.8148, + 850.0 + ], + "actual_end_pos": [ + -2421.7638, + 1186.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2421.7638, + 1186.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2395.8819, + 1283.4074, + 850.0 + ], + "actual_end_pos": [ + -2395.8819, + 1283.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2395.8819, + 1283.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2270.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000530_meta.json b/inverse_hard/run_20260427_001012__traj_000530_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7d2241bcaee98c4c23e2f5f02ad58d1ba0d07d55 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000530_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 530, + "episode_id": 0, + "state_id": 117, + "sample_index": 117, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + 1380.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_left", + "turn_left", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2270.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2299.2893, + 1309.2893, + 850.0 + ], + "actual_end_pos": [ + -2299.2893, + 1309.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2299.2893, + 1309.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "actual_end_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "actual_end_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "actual_end_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "actual_end_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2228.5786, + 1338.5786, + 850.0 + ], + "actual_end_pos": [ + -2228.5786, + 1338.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2228.5786, + 1338.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2228.5786, + 1438.5786, + 850.0 + ], + "actual_end_pos": [ + -2228.5786, + 1438.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2228.5786, + 1438.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2228.5786, + 1438.5786, + 850.0 + ], + "actual_end_pos": [ + -2228.5786, + 1438.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2228.5786, + 1438.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2228.5786, + 1438.5786, + 850.0 + ], + "actual_end_pos": [ + -2228.5786, + 1438.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2228.5786, + 1438.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2228.5786, + 1438.5786, + 850.0 + ], + "actual_end_pos": [ + -2228.5786, + 1438.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2228.5786, + 1438.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2228.5786, + 1438.5786, + 850.0 + ], + "actual_end_pos": [ + -2228.5786, + 1438.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2228.5786, + 1438.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2228.5786, + 1338.5786, + 850.0 + ], + "actual_end_pos": [ + -2228.5786, + 1338.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2228.5786, + 1338.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "actual_end_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "actual_end_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "actual_end_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "actual_end_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2228.5786, + 1238.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2299.2893, + 1309.2893, + 850.0 + ], + "actual_end_pos": [ + -2299.2893, + 1309.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2299.2893, + 1309.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2370.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2270.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1380.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000549_meta.json b/inverse_hard/run_20260427_001012__traj_000549_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1ddeaee33273a3f0f79264537c20edb76543b86e --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000549_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 549, + "episode_id": 0, + "state_id": 121, + "sample_index": 121, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + 1780.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "turn_left", + "move_backward", + "move_backward", + "move_forward", + "move_forward", + "turn_right", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1940.7106, + 1850.7106, + 850.0 + ], + "actual_end_pos": [ + -1940.7106, + 1850.7106, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1940.7106, + 1850.7106, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2011.4213, + 1921.4213, + 850.0 + ], + "actual_end_pos": [ + -2011.4213, + 1921.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2011.4213, + 1921.4213, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2011.4213, + 1921.4213, + 850.0 + ], + "actual_end_pos": [ + -2011.4213, + 1921.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2011.4213, + 1921.4213, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2098.0239, + 1871.4213, + 850.0 + ], + "actual_end_pos": [ + -2098.0239, + 1871.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2098.0239, + 1871.4213, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2184.6264, + 1821.4213, + 850.0 + ], + "actual_end_pos": [ + -2184.6264, + 1821.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2184.6264, + 1821.4213, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2098.0239, + 1871.4213, + 850.0 + ], + "actual_end_pos": [ + -2098.0239, + 1871.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2098.0239, + 1871.4213, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2011.4213, + 1921.4213, + 850.0 + ], + "actual_end_pos": [ + -2011.4213, + 1921.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2011.4213, + 1921.4213, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2011.4213, + 1921.4213, + 850.0 + ], + "actual_end_pos": [ + -2011.4213, + 1921.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2011.4213, + 1921.4213, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1940.7106, + 1850.7106, + 850.0 + ], + "actual_end_pos": [ + -1940.7106, + 1850.7106, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1940.7106, + 1850.7106, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000553_meta.json b/inverse_hard/run_20260427_001012__traj_000553_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a2813d7d51fee17e061e9eb1ea78982c1e70a353 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000553_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 553, + "episode_id": 0, + "state_id": 121, + "sample_index": 121, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + 1780.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_left", + "turn_right", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2069.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2069.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2069.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1899.2893, + 1850.7106, + 850.0 + ], + "actual_end_pos": [ + -1899.2893, + 1850.7106, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1899.2893, + 1850.7106, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1828.5786, + 1921.4213, + 850.0 + ], + "actual_end_pos": [ + -1828.5786, + 1921.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1828.5786, + 1921.4213, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1828.5786, + 1921.4213, + 850.0 + ], + "actual_end_pos": [ + -1828.5786, + 1921.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1828.5786, + 1921.4213, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1828.5786, + 1921.4213, + 850.0 + ], + "actual_end_pos": [ + -1828.5786, + 1921.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1828.5786, + 1921.4213, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1802.6967, + 2018.0139, + 850.0 + ], + "actual_end_pos": [ + -1802.6967, + 2018.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1802.6967, + 2018.0139, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1776.8148, + 2114.6065, + 850.0 + ], + "actual_end_pos": [ + -1776.8148, + 2114.6065, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1776.8148, + 2114.6065, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1776.8148, + 2114.6065, + 850.0 + ], + "actual_end_pos": [ + -1776.8148, + 2114.6065, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1776.8148, + 2114.6065, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1776.8148, + 2114.6065, + 850.0 + ], + "actual_end_pos": [ + -1776.8148, + 2114.6065, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1776.8148, + 2114.6065, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1802.6967, + 2018.0139, + 850.0 + ], + "actual_end_pos": [ + -1802.6967, + 2018.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1802.6967, + 2018.0139, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1828.5786, + 1921.4213, + 850.0 + ], + "actual_end_pos": [ + -1828.5786, + 1921.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1828.5786, + 1921.4213, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1828.5786, + 1921.4213, + 850.0 + ], + "actual_end_pos": [ + -1828.5786, + 1921.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1828.5786, + 1921.4213, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1828.5786, + 1921.4213, + 850.0 + ], + "actual_end_pos": [ + -1828.5786, + 1921.4213, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1828.5786, + 1921.4213, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1899.2893, + 1850.7106, + 850.0 + ], + "actual_end_pos": [ + -1899.2893, + 1850.7106, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1899.2893, + 1850.7106, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1969.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2069.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2069.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2069.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000555_meta.json b/inverse_hard/run_20260427_001012__traj_000555_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ed096bab67a57ff9364366310301964757f3abcd --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000555_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 555, + "episode_id": 0, + "state_id": 122, + "sample_index": 122, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + 1780.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "turn_right", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_left", + "move_left", + "move_right", + "move_right", + "turn_left", + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "turn_left", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1880.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2169.9999, + 1880.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2169.9999, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2169.9999, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2195.8818, + 2076.5925, + 850.0 + ], + "actual_end_pos": [ + -2195.8818, + 2076.5925, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2195.8818, + 2076.5925, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2221.7637, + 2173.1851, + 850.0 + ], + "actual_end_pos": [ + -2221.7637, + 2173.1851, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2221.7637, + 2173.1851, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2221.7637, + 2173.1851, + 850.0 + ], + "actual_end_pos": [ + -2221.7637, + 2173.1851, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2221.7637, + 2173.1851, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2221.7637, + 2173.1851, + 850.0 + ], + "actual_end_pos": [ + -2221.7637, + 2173.1851, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2221.7637, + 2173.1851, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2151.0531, + 2102.4744, + 850.0 + ], + "actual_end_pos": [ + -2151.0531, + 2102.4744, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2151.0531, + 2102.4744, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2080.3424, + 2031.7638, + 850.0 + ], + "actual_end_pos": [ + -2080.3424, + 2031.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2080.3424, + 2031.7638, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2009.6317, + 1961.0531, + 850.0 + ], + "actual_end_pos": [ + -2009.6317, + 1961.0531, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2009.6317, + 1961.0531, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2009.6317, + 1961.0531, + 850.0 + ], + "actual_end_pos": [ + -2009.6317, + 1961.0531, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2009.6317, + 1961.0531, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2096.2343, + 2011.0531, + 850.0 + ], + "actual_end_pos": [ + -2096.2343, + 2011.0531, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2096.2343, + 2011.0531, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2182.8368, + 2061.0531, + 850.0 + ], + "actual_end_pos": [ + -2182.8368, + 2061.0531, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2182.8368, + 2061.0531, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2096.2343, + 2011.0531, + 850.0 + ], + "actual_end_pos": [ + -2096.2343, + 2011.0531, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2096.2343, + 2011.0531, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2009.6317, + 1961.0531, + 850.0 + ], + "actual_end_pos": [ + -2009.6317, + 1961.0531, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2009.6317, + 1961.0531, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2009.6317, + 1961.0531, + 850.0 + ], + "actual_end_pos": [ + -2009.6317, + 1961.0531, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2009.6317, + 1961.0531, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2080.3424, + 2031.7638, + 850.0 + ], + "actual_end_pos": [ + -2080.3424, + 2031.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2080.3424, + 2031.7638, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2151.0531, + 2102.4744, + 850.0 + ], + "actual_end_pos": [ + -2151.0531, + 2102.4744, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2151.0531, + 2102.4744, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2221.7637, + 2173.1851, + 850.0 + ], + "actual_end_pos": [ + -2221.7637, + 2173.1851, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2221.7637, + 2173.1851, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2221.7637, + 2173.1851, + 850.0 + ], + "actual_end_pos": [ + -2221.7637, + 2173.1851, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2221.7637, + 2173.1851, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2221.7637, + 2173.1851, + 850.0 + ], + "actual_end_pos": [ + -2221.7637, + 2173.1851, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2221.7637, + 2173.1851, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2195.8818, + 2076.5925, + 850.0 + ], + "actual_end_pos": [ + -2195.8818, + 2076.5925, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2195.8818, + 2076.5925, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2169.9999, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2169.9999, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1880.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2169.9999, + 1880.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2169.9999, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000557_meta.json b/inverse_hard/run_20260427_001012__traj_000557_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e3116e130c16750c2f51dcf261357b829859ad17 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000557_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 557, + "episode_id": 0, + "state_id": 122, + "sample_index": 122, + "trajectory_index_at_point": 3, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + 1780.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1920.0, + 1866.6025, + 850.0 + ], + "actual_end_pos": [ + -1920.0, + 1866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1920.0, + 1866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 1953.2051, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 1953.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1970.0, + 1953.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 1953.2051, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 1953.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1970.0, + 1953.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 1953.2051, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 1953.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1970.0, + 1953.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 1953.2051, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 1953.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1970.0, + 1953.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 1953.2051, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 1953.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1970.0, + 1953.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 1953.2051, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 1953.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1970.0, + 1953.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 1953.2051, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 1953.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1970.0, + 1953.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1920.0, + 1866.6025, + 850.0 + ], + "actual_end_pos": [ + -1920.0, + 1866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1920.0, + 1866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000558_meta.json b/inverse_hard/run_20260427_001012__traj_000558_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5a135c5127f5e7cae184e9b27b0b6c4a2cd74e43 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000558_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 558, + "episode_id": 0, + "state_id": 122, + "sample_index": 122, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + 1780.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1880.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + 1880.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2083.3975, + 2030.0, + 850.0 + ], + "actual_end_pos": [ + -2083.3975, + 2030.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2083.3975, + 2030.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1970.913, + 2176.5926, + 850.0 + ], + "actual_end_pos": [ + -1970.913, + 2176.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1970.913, + 2176.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1945.0311, + 2273.1852, + 850.0 + ], + "actual_end_pos": [ + -1945.0311, + 2273.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1945.0311, + 2273.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1970.913, + 2176.5926, + 850.0 + ], + "actual_end_pos": [ + -1970.913, + 2176.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1970.913, + 2176.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1996.7949, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2083.3975, + 2030.0, + 850.0 + ], + "actual_end_pos": [ + -2083.3975, + 2030.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2083.3975, + 2030.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1880.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + 1880.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000559_meta.json b/inverse_hard/run_20260427_001012__traj_000559_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..39323399bc2fc65014d23de5633ad7fb7d743d7a --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000559_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 559, + "episode_id": 0, + "state_id": 123, + "sample_index": 123, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + 1780.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1880.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + 1880.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2073.4074, + 2054.1181, + 850.0 + ], + "actual_end_pos": [ + -2073.4074, + 2054.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2073.4074, + 2054.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1976.8148, + 2028.2362, + 850.0 + ], + "actual_end_pos": [ + -1976.8148, + 2028.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1976.8148, + 2028.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "actual_end_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "actual_end_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "actual_end_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "actual_end_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1966.8248, + 1952.3543, + 850.0 + ], + "actual_end_pos": [ + -1966.8248, + 1952.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1966.8248, + 1952.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "actual_end_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "actual_end_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "actual_end_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "actual_end_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1880.2223, + 2002.3543, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1976.8148, + 2028.2362, + 850.0 + ], + "actual_end_pos": [ + -1976.8148, + 2028.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1976.8148, + 2028.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2073.4074, + 2054.1181, + 850.0 + ], + "actual_end_pos": [ + -2073.4074, + 2054.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2073.4074, + 2054.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1880.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + 1880.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000561_meta.json b/inverse_hard/run_20260427_001012__traj_000561_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a424ef6578e99540294cb7a873d9d6cb66419350 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000561_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 561, + "episode_id": 0, + "state_id": 123, + "sample_index": 123, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + 1780.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -1795.8819, + 1876.5926, + 850.0 + ], + "actual_end_pos": [ + -1795.8819, + 1876.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1795.8819, + 1876.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -1821.7638, + 1973.1852, + 850.0 + ], + "actual_end_pos": [ + -1821.7638, + 1973.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1821.7638, + 1973.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -1821.7638, + 1973.1852, + 850.0 + ], + "actual_end_pos": [ + -1821.7638, + 1973.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1821.7638, + 1973.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1821.7638, + 1973.1852, + 850.0 + ], + "actual_end_pos": [ + -1821.7638, + 1973.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1821.7638, + 1973.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1725.1712, + 1947.3033, + 850.0 + ], + "actual_end_pos": [ + -1725.1712, + 1947.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1725.1712, + 1947.3033, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1628.5786, + 1921.4214, + 850.0 + ], + "actual_end_pos": [ + -1628.5786, + 1921.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1628.5786, + 1921.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1531.9861, + 1895.5395, + 850.0 + ], + "actual_end_pos": [ + -1531.9861, + 1895.5395, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1531.9861, + 1895.5395, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1531.9861, + 1895.5395, + 850.0 + ], + "actual_end_pos": [ + -1531.9861, + 1895.5395, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1531.9861, + 1895.5395, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1531.9861, + 1895.5395, + 850.0 + ], + "actual_end_pos": [ + -1531.9861, + 1895.5395, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1531.9861, + 1895.5395, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1628.5786, + 1921.4214, + 850.0 + ], + "actual_end_pos": [ + -1628.5786, + 1921.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1628.5786, + 1921.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1725.1712, + 1947.3033, + 850.0 + ], + "actual_end_pos": [ + -1725.1712, + 1947.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1725.1712, + 1947.3033, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1821.7638, + 1973.1852, + 850.0 + ], + "actual_end_pos": [ + -1821.7638, + 1973.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1821.7638, + 1973.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1821.7638, + 1973.1852, + 850.0 + ], + "actual_end_pos": [ + -1821.7638, + 1973.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1821.7638, + 1973.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1821.7638, + 1973.1852, + 850.0 + ], + "actual_end_pos": [ + -1821.7638, + 1973.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1821.7638, + 1973.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -1795.8819, + 1876.5926, + 850.0 + ], + "actual_end_pos": [ + -1795.8819, + 1876.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1795.8819, + 1876.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000563_meta.json b/inverse_hard/run_20260427_001012__traj_000563_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..89e68573cd6b072ae7fde61388d57002a27e772a --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000563_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 563, + "episode_id": 0, + "state_id": 123, + "sample_index": 123, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + 1780.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "move_right", + "turn_left", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "turn_right", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1744.1181, + 1876.5926, + 850.0 + ], + "actual_end_pos": [ + -1744.1181, + 1876.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1744.1181, + 1876.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "actual_end_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "actual_end_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "actual_end_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "actual_end_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1631.6336, + 2023.1852, + 850.0 + ], + "actual_end_pos": [ + -1631.6336, + 2023.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1631.6336, + 2023.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1545.0311, + 2073.1852, + 850.0 + ], + "actual_end_pos": [ + -1545.0311, + 2073.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1545.0311, + 2073.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1631.6336, + 2023.1852, + 850.0 + ], + "actual_end_pos": [ + -1631.6336, + 2023.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1631.6336, + 2023.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "actual_end_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "actual_end_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "actual_end_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "actual_end_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1718.2362, + 1973.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1744.1181, + 1876.5926, + 850.0 + ], + "actual_end_pos": [ + -1744.1181, + 1876.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1744.1181, + 1876.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1770.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1870.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1970.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2070.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000569_meta.json b/inverse_hard/run_20260427_001012__traj_000569_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3f7adc291b62a77158f555e6a31ca3e534a8f314 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000569_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 569, + "episode_id": 0, + "state_id": 125, + "sample_index": 125, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + 2180.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2070.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1899.2893, + 2109.2893, + 850.0 + ], + "actual_end_pos": [ + -1899.2893, + 2109.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1899.2893, + 2109.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1828.5786, + 2038.5786, + 850.0 + ], + "actual_end_pos": [ + -1828.5786, + 2038.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1828.5786, + 2038.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1757.8679, + 1967.8679, + 850.0 + ], + "actual_end_pos": [ + -1757.8679, + 1967.8679, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1757.8679, + 1967.8679, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1687.1573, + 1897.1573, + 850.0 + ], + "actual_end_pos": [ + -1687.1573, + 1897.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1687.1573, + 1897.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1687.1573, + 1897.1573, + 850.0 + ], + "actual_end_pos": [ + -1687.1573, + 1897.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1687.1573, + 1897.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1773.7598, + 1847.1573, + 850.0 + ], + "actual_end_pos": [ + -1773.7598, + 1847.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1773.7598, + 1847.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1860.3623, + 1797.1573, + 850.0 + ], + "actual_end_pos": [ + -1860.3623, + 1797.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1860.3623, + 1797.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1946.9649, + 1747.1573, + 850.0 + ], + "actual_end_pos": [ + -1946.9649, + 1747.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1946.9649, + 1747.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1860.3623, + 1797.1573, + 850.0 + ], + "actual_end_pos": [ + -1860.3623, + 1797.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1860.3623, + 1797.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1773.7598, + 1847.1573, + 850.0 + ], + "actual_end_pos": [ + -1773.7598, + 1847.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1773.7598, + 1847.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1687.1573, + 1897.1573, + 850.0 + ], + "actual_end_pos": [ + -1687.1573, + 1897.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1687.1573, + 1897.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1687.1573, + 1897.1573, + 850.0 + ], + "actual_end_pos": [ + -1687.1573, + 1897.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1687.1573, + 1897.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1757.8679, + 1967.8679, + 850.0 + ], + "actual_end_pos": [ + -1757.8679, + 1967.8679, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1757.8679, + 1967.8679, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1828.5786, + 2038.5786, + 850.0 + ], + "actual_end_pos": [ + -1828.5786, + 2038.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1828.5786, + 2038.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1899.2893, + 2109.2893, + 850.0 + ], + "actual_end_pos": [ + -1899.2893, + 2109.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1899.2893, + 2109.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2070.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000571_meta.json b/inverse_hard/run_20260427_001012__traj_000571_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..75fa02b300f5e83ee25d7bed61984a4209273dc7 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000571_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 571, + "episode_id": 0, + "state_id": 125, + "sample_index": 125, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + 2180.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "turn_right", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "turn_left", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2070.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1870.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1870.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1895.8819, + 2276.5926, + 850.0 + ], + "actual_end_pos": [ + -1895.8819, + 2276.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1895.8819, + 2276.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "actual_end_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "actual_end_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "actual_end_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "actual_end_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1871.7638, + 2459.7877, + 850.0 + ], + "actual_end_pos": [ + -1871.7638, + 2459.7877, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1871.7638, + 2459.7877, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1821.7638, + 2546.3902, + 850.0 + ], + "actual_end_pos": [ + -1821.7638, + 2546.3902, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1821.7638, + 2546.3902, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1771.7638, + 2632.9928, + 850.0 + ], + "actual_end_pos": [ + -1771.7638, + 2632.9928, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1771.7638, + 2632.9928, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1771.7638, + 2632.9928, + 850.0 + ], + "actual_end_pos": [ + -1771.7638, + 2632.9928, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1771.7638, + 2632.9928, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1771.7638, + 2632.9928, + 850.0 + ], + "actual_end_pos": [ + -1771.7638, + 2632.9928, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1771.7638, + 2632.9928, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1771.7638, + 2632.9928, + 850.0 + ], + "actual_end_pos": [ + -1771.7638, + 2632.9928, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1771.7638, + 2632.9928, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1771.7638, + 2632.9928, + 850.0 + ], + "actual_end_pos": [ + -1771.7638, + 2632.9928, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1771.7638, + 2632.9928, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1821.7638, + 2546.3902, + 850.0 + ], + "actual_end_pos": [ + -1821.7638, + 2546.3902, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1821.7638, + 2546.3902, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1871.7638, + 2459.7877, + 850.0 + ], + "actual_end_pos": [ + -1871.7638, + 2459.7877, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1871.7638, + 2459.7877, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "actual_end_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "actual_end_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "actual_end_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "actual_end_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1921.7638, + 2373.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1895.8819, + 2276.5926, + 850.0 + ], + "actual_end_pos": [ + -1895.8819, + 2276.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1895.8819, + 2276.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1870.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1870.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -1870.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1870.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1970.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2070.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2070.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2070.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_hard/run_20260427_001012__traj_000572_meta.json b/inverse_hard/run_20260427_001012__traj_000572_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4db4bb4a04eccf84b6e0bb498b3a49db532ca990 --- /dev/null +++ b/inverse_hard/run_20260427_001012__traj_000572_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 572, + "episode_id": 0, + "state_id": 125, + "sample_index": 125, + "trajectory_index_at_point": 3, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_inverse", + "algebraic_property": "hard-inverse: A ∘ A⁻¹ = id with rotation-mixed explore segment (non-abelian, not reducible to symmetric round-trips)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2170.0, + 2180.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "move_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1880.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.0, + 1880.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2144.1181, + 1876.5926, + 850.0 + ], + "actual_end_pos": [ + -2144.1181, + 1876.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2144.1181, + 1876.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2118.2362, + 1973.1852, + 850.0 + ], + "actual_end_pos": [ + -2118.2362, + 1973.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2118.2362, + 1973.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2092.3543, + 2069.7777, + 850.0 + ], + "actual_end_pos": [ + -2092.3543, + 2069.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2092.3543, + 2069.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2066.4724, + 2166.3703, + 850.0 + ], + "actual_end_pos": [ + -2066.4724, + 2166.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2066.4724, + 2166.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2066.4724, + 2166.3703, + 850.0 + ], + "actual_end_pos": [ + -2066.4724, + 2166.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2066.4724, + 2166.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2066.4724, + 2166.3703, + 850.0 + ], + "actual_end_pos": [ + -2066.4724, + 2166.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2066.4724, + 2166.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1969.8798, + 2192.2522, + 850.0 + ], + "actual_end_pos": [ + -1969.8798, + 2192.2522, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1969.8798, + 2192.2522, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1873.2872, + 2218.1341, + 850.0 + ], + "actual_end_pos": [ + -1873.2872, + 2218.1341, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1873.2872, + 2218.1341, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1776.6946, + 2244.016, + 850.0 + ], + "actual_end_pos": [ + -1776.6946, + 2244.016, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1776.6946, + 2244.016, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1873.2872, + 2218.1341, + 850.0 + ], + "actual_end_pos": [ + -1873.2872, + 2218.1341, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1873.2872, + 2218.1341, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1969.8798, + 2192.2522, + 850.0 + ], + "actual_end_pos": [ + -1969.8798, + 2192.2522, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1969.8798, + 2192.2522, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2066.4724, + 2166.3703, + 850.0 + ], + "actual_end_pos": [ + -2066.4724, + 2166.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2066.4724, + 2166.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2066.4724, + 2166.3703, + 850.0 + ], + "actual_end_pos": [ + -2066.4724, + 2166.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2066.4724, + 2166.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2066.4724, + 2166.3703, + 850.0 + ], + "actual_end_pos": [ + -2066.4724, + 2166.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2066.4724, + 2166.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2092.3543, + 2069.7777, + 850.0 + ], + "actual_end_pos": [ + -2092.3543, + 2069.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2092.3543, + 2069.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2118.2362, + 1973.1852, + 850.0 + ], + "actual_end_pos": [ + -2118.2362, + 1973.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2118.2362, + 1973.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2144.1181, + 1876.5926, + 850.0 + ], + "actual_end_pos": [ + -2144.1181, + 1876.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2144.1181, + 1876.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + 1780.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1880.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + 1880.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + 1980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2080.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2080.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2170.0, + 2080.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_pos": [ + -2170.0, + 2180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260407_132406__traj_000164_meta.json b/loop_easy/run_20260407_132406__traj_000164_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4944633b92ae6971fb8caeab6b375884e8d8ebe8 --- /dev/null +++ b/loop_easy/run_20260407_132406__traj_000164_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 164, + "episode_id": 0, + "state_id": 117, + "sample_index": 117, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -3490.0, + 1700.0, + 400.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "look_up", + "move_forward", + "move_forward", + "turn_right", + "move_right", + "turn_right", + "move_right", + "move_forward", + "move_left", + "look_up", + "turn_right", + "move_right", + "move_backward", + "turn_left", + "move_backward", + "move_right", + "turn_right", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "look_down", + "move_forward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3490.0, + 1700.0, + 400.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3490.0, + 1700.0, + 400.0 + ], + "actual_end_pos": [ + -3490.0, + 1700.0, + 400.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3490.0, + 1700.0, + 400.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3589.1445, + 1700.0, + 413.0526 + ], + "actual_end_pos": [ + -3589.1445, + 1700.0, + 413.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3589.1445, + 1700.0, + 413.0526 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3688.289, + 1700.0, + 426.1052 + ], + "actual_end_pos": [ + -3688.289, + 1700.0, + 426.1052 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3688.289, + 1700.0, + 426.1052 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3688.289, + 1700.0, + 426.1052 + ], + "actual_end_pos": [ + -3688.289, + 1700.0, + 426.1052 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3688.289, + 1700.0, + 426.1052 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3662.4071, + 1603.4074, + 426.1052 + ], + "actual_end_pos": [ + -3662.4071, + 1603.4074, + 426.1052 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3662.4071, + 1603.4074, + 426.1052 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3662.4071, + 1603.4074, + 426.1052 + ], + "actual_end_pos": [ + -3662.4071, + 1603.4074, + 426.1052 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3662.4071, + 1603.4074, + 426.1052 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3612.4071, + 1516.8049, + 426.1052 + ], + "actual_end_pos": [ + -3612.4071, + 1516.8049, + 426.1052 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3612.4071, + 1516.8049, + 426.1052 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3698.2687, + 1467.2326, + 439.1579 + ], + "actual_end_pos": [ + -3698.2687, + 1467.2326, + 439.1579 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3698.2687, + 1467.2326, + 439.1579 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3748.2687, + 1553.8352, + 439.1579 + ], + "actual_end_pos": [ + -3748.2687, + 1553.8352, + 439.1579 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3748.2687, + 1553.8352, + 439.1579 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3748.2687, + 1553.8352, + 439.1579 + ], + "actual_end_pos": [ + -3748.2687, + 1553.8352, + 439.1579 + ], + "actual_end_rot": [ + 15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3748.2687, + 1553.8352, + 439.1579 + ], + "start_rot": [ + 15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3748.2687, + 1553.8352, + 439.1579 + ], + "actual_end_pos": [ + -3748.2687, + 1553.8352, + 439.1579 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3748.2687, + 1553.8352, + 439.1579 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3677.558, + 1483.1245, + 439.1579 + ], + "actual_end_pos": [ + -3677.558, + 1483.1245, + 439.1579 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3677.558, + 1483.1245, + 439.1579 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3609.2568, + 1551.4258, + 413.276 + ], + "actual_end_pos": [ + -3609.2568, + 1551.4258, + 413.276 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3609.2568, + 1551.4258, + 413.276 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3609.2568, + 1551.4258, + 413.276 + ], + "actual_end_pos": [ + -3609.2568, + 1551.4258, + 413.276 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3609.2568, + 1551.4258, + 413.276 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -3525.6051, + 1599.7221, + 387.394 + ], + "actual_end_pos": [ + -3525.6051, + 1599.7221, + 387.394 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3525.6051, + 1599.7221, + 387.394 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -3475.6051, + 1513.1195, + 387.394 + ], + "actual_end_pos": [ + -3475.6051, + 1513.1195, + 387.394 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3475.6051, + 1513.1195, + 387.394 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -3475.6051, + 1513.1195, + 387.394 + ], + "actual_end_pos": [ + -3475.6051, + 1513.1195, + 387.394 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3475.6051, + 1513.1195, + 387.394 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3407.3039, + 1581.4208, + 361.5121 + ], + "actual_end_pos": [ + -3407.3039, + 1581.4208, + 361.5121 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3407.3039, + 1581.4208, + 361.5121 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3407.3039, + 1581.4208, + 361.5121 + ], + "actual_end_pos": [ + -3407.3039, + 1581.4208, + 361.5121 + ], + "actual_end_rot": [ + 15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3407.3039, + 1581.4208, + 361.5121 + ], + "start_rot": [ + 15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3407.3039, + 1581.4208, + 361.5121 + ], + "actual_end_pos": [ + -3407.3039, + 1581.4208, + 361.5121 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3407.3039, + 1581.4208, + 361.5121 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3407.3039, + 1581.4208, + 361.5121 + ], + "actual_end_pos": [ + -3407.3039, + 1581.4208, + 361.5121 + ], + "actual_end_rot": [ + 15.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3407.3039, + 1581.4208, + 361.5121 + ], + "start_rot": [ + 15.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3407.3039, + 1581.4208, + 361.5121 + ], + "actual_end_pos": [ + -3407.3039, + 1581.4208, + 361.5121 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3407.3039, + 1581.4208, + 361.5121 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3506.4483, + 1581.4208, + 374.5648 + ], + "actual_end_pos": [ + -3506.4483, + 1581.4208, + 374.5648 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3506.4483, + 1581.4208, + 374.5648 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_pos": [ + -3506.4483, + 1681.4208, + 374.5648 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260407_132406__traj_000436_meta.json b/loop_easy/run_20260407_132406__traj_000436_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..126e30e8d95282cd5cf8ea194eefa31f9d6cb8ae --- /dev/null +++ b/loop_easy/run_20260407_132406__traj_000436_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 436, + "episode_id": 0, + "state_id": 317, + "sample_index": 317, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1990.0, + 200.0, + 400.0 + ], + "rotation": [ + 0.0, + 300.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "look_up", + "move_right", + "move_backward", + "move_left", + "look_up", + "look_up", + "no_op", + "turn_right", + "move_right", + "turn_right", + "move_left", + "look_down", + "no_op", + "move_forward", + "turn_left", + "move_backward", + "turn_left", + "look_down", + "move_forward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1990.0, + 200.0, + 400.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1903.3975, + 250.0, + 400.0 + ], + "actual_end_pos": [ + -1903.3975, + 250.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1903.3975, + 250.0, + 400.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1903.3975, + 250.0, + 400.0 + ], + "actual_end_pos": [ + -1903.3975, + 250.0, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1903.3975, + 250.0, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1816.7949, + 300.0, + 400.0 + ], + "actual_end_pos": [ + -1816.7949, + 300.0, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1816.7949, + 300.0, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1866.3672, + 385.8616, + 386.9474 + ], + "actual_end_pos": [ + -1866.3672, + 385.8616, + 386.9474 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1866.3672, + 385.8616, + 386.9474 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1952.9697, + 335.8616, + 386.9474 + ], + "actual_end_pos": [ + -1952.9697, + 335.8616, + 386.9474 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1952.9697, + 335.8616, + 386.9474 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1952.9697, + 335.8616, + 386.9474 + ], + "actual_end_pos": [ + -1952.9697, + 335.8616, + 386.9474 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1952.9697, + 335.8616, + 386.9474 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1952.9697, + 335.8616, + 386.9474 + ], + "actual_end_pos": [ + -1952.9697, + 335.8616, + 386.9474 + ], + "actual_end_rot": [ + 22.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1952.9697, + 335.8616, + 386.9474 + ], + "start_rot": [ + 22.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1952.9697, + 335.8616, + 386.9474 + ], + "actual_end_pos": [ + -1952.9697, + 335.8616, + 386.9474 + ], + "actual_end_rot": [ + 22.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1952.9697, + 335.8616, + 386.9474 + ], + "start_rot": [ + 22.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1952.9697, + 335.8616, + 386.9474 + ], + "actual_end_pos": [ + -1952.9697, + 335.8616, + 386.9474 + ], + "actual_end_rot": [ + 22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1952.9697, + 335.8616, + 386.9474 + ], + "start_rot": [ + 22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1882.259, + 406.5723, + 386.9474 + ], + "actual_end_pos": [ + -1882.259, + 406.5723, + 386.9474 + ], + "actual_end_rot": [ + 22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1882.259, + 406.5723, + 386.9474 + ], + "start_rot": [ + 22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1882.259, + 406.5723, + 386.9474 + ], + "actual_end_pos": [ + -1882.259, + 406.5723, + 386.9474 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1882.259, + 406.5723, + 386.9474 + ], + "start_rot": [ + 22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1932.259, + 319.9698, + 386.9474 + ], + "actual_end_pos": [ + -1932.259, + 319.9698, + 386.9474 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1932.259, + 319.9698, + 386.9474 + ], + "start_rot": [ + 22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1932.259, + 319.9698, + 386.9474 + ], + "actual_end_pos": [ + -1932.259, + 319.9698, + 386.9474 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1932.259, + 319.9698, + 386.9474 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1932.259, + 319.9698, + 386.9474 + ], + "actual_end_pos": [ + -1932.259, + 319.9698, + 386.9474 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1932.259, + 319.9698, + 386.9474 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1848.6074, + 271.6735, + 412.8293 + ], + "actual_end_pos": [ + -1848.6074, + 271.6735, + 412.8293 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1848.6074, + 271.6735, + 412.8293 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1848.6074, + 271.6735, + 412.8293 + ], + "actual_end_pos": [ + -1848.6074, + 271.6735, + 412.8293 + ], + "actual_end_rot": [ + 15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1848.6074, + 271.6735, + 412.8293 + ], + "start_rot": [ + 15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1916.9087, + 339.9748, + 386.9474 + ], + "actual_end_pos": [ + -1916.9087, + 339.9748, + 386.9474 + ], + "actual_end_rot": [ + 15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1916.9087, + 339.9748, + 386.9474 + ], + "start_rot": [ + 15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1916.9087, + 339.9748, + 386.9474 + ], + "actual_end_pos": [ + -1916.9087, + 339.9748, + 386.9474 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1916.9087, + 339.9748, + 386.9474 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1916.9087, + 339.9748, + 386.9474 + ], + "actual_end_pos": [ + -1916.9087, + 339.9748, + 386.9474 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1916.9087, + 339.9748, + 386.9474 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1867.3364, + 254.1131, + 400.0 + ], + "actual_end_pos": [ + -1867.3364, + 254.1131, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1867.3364, + 254.1131, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_pos": [ + -1953.939, + 204.1131, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260407_132406__traj_000496_meta.json b/loop_easy/run_20260407_132406__traj_000496_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c5161c5eea07086164fc86f14347c737011f359e --- /dev/null +++ b/loop_easy/run_20260407_132406__traj_000496_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 496, + "episode_id": 0, + "state_id": 359, + "sample_index": 359, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1990.0, + 3700.0, + 400.0 + ], + "rotation": [ + 0.0, + 300.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "no_op", + "move_left", + "move_backward", + "move_right", + "move_right", + "no_op", + "move_left", + "look_up", + "look_up", + "move_right", + "move_forward", + "turn_left", + "move_forward", + "move_right", + "move_right", + "turn_right", + "move_backward", + "move_left", + "move_forward", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_forward", + "turn_left", + "look_down", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1990.0, + 3700.0, + 400.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1903.3975, + 3750.0, + 400.0 + ], + "actual_end_pos": [ + -1903.3975, + 3750.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1903.3975, + 3750.0, + 400.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1903.3975, + 3750.0, + 400.0 + ], + "actual_end_pos": [ + -1903.3975, + 3750.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1903.3975, + 3750.0, + 400.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1990.0, + 3700.0, + 400.0 + ], + "actual_end_pos": [ + -1990.0, + 3700.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1990.0, + 3700.0, + 400.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2040.0, + 3786.6025, + 400.0 + ], + "actual_end_pos": [ + -2040.0, + 3786.6025, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2040.0, + 3786.6025, + 400.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.3975, + 3836.6025, + 400.0 + ], + "actual_end_pos": [ + -1953.3975, + 3836.6025, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1953.3975, + 3836.6025, + 400.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1866.7949, + 3886.6025, + 400.0 + ], + "actual_end_pos": [ + -1866.7949, + 3886.6025, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1866.7949, + 3886.6025, + 400.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1866.7949, + 3886.6025, + 400.0 + ], + "actual_end_pos": [ + -1866.7949, + 3886.6025, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1866.7949, + 3886.6025, + 400.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.3975, + 3836.6025, + 400.0 + ], + "actual_end_pos": [ + -1953.3975, + 3836.6025, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1953.3975, + 3836.6025, + 400.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.3975, + 3836.6025, + 400.0 + ], + "actual_end_pos": [ + -1953.3975, + 3836.6025, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1953.3975, + 3836.6025, + 400.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1953.3975, + 3836.6025, + 400.0 + ], + "actual_end_pos": [ + -1953.3975, + 3836.6025, + 400.0 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1953.3975, + 3836.6025, + 400.0 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1866.7949, + 3886.6025, + 400.0 + ], + "actual_end_pos": [ + -1866.7949, + 3886.6025, + 400.0 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1866.7949, + 3886.6025, + 400.0 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1818.4986, + 3802.9509, + 425.8819 + ], + "actual_end_pos": [ + -1818.4986, + 3802.9509, + 425.8819 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1818.4986, + 3802.9509, + 425.8819 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1818.4986, + 3802.9509, + 425.8819 + ], + "actual_end_pos": [ + -1818.4986, + 3802.9509, + 425.8819 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1818.4986, + 3802.9509, + 425.8819 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -1793.4986, + 3709.6496, + 451.7638 + ], + "actual_end_pos": [ + -1793.4986, + 3709.6496, + 451.7638 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1793.4986, + 3709.6496, + 451.7638 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -1696.906, + 3735.5315, + 451.7638 + ], + "actual_end_pos": [ + -1696.906, + 3735.5315, + 451.7638 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1696.906, + 3735.5315, + 451.7638 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -1600.3135, + 3761.4135, + 451.7638 + ], + "actual_end_pos": [ + -1600.3135, + 3761.4135, + 451.7638 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1600.3135, + 3761.4135, + 451.7638 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -1600.3135, + 3761.4135, + 451.7638 + ], + "actual_end_pos": [ + -1600.3135, + 3761.4135, + 451.7638 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1600.3135, + 3761.4135, + 451.7638 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1648.6098, + 3845.0651, + 425.8819 + ], + "actual_end_pos": [ + -1648.6098, + 3845.0651, + 425.8819 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1648.6098, + 3845.0651, + 425.8819 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1735.2123, + 3795.0651, + 425.8819 + ], + "actual_end_pos": [ + -1735.2123, + 3795.0651, + 425.8819 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1735.2123, + 3795.0651, + 425.8819 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1686.916, + 3711.4135, + 451.7638 + ], + "actual_end_pos": [ + -1686.916, + 3711.4135, + 451.7638 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1686.916, + 3711.4135, + 451.7638 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1686.916, + 3711.4135, + 451.7638 + ], + "actual_end_pos": [ + -1686.916, + 3711.4135, + 451.7638 + ], + "actual_end_rot": [ + 15.0, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1686.916, + 3711.4135, + 451.7638 + ], + "start_rot": [ + 15.0, + -45.0, + -0.0 + ], + "expected_end_pos": [ + -1616.2053, + 3782.1241, + 451.7638 + ], + "actual_end_pos": [ + -1616.2053, + 3782.1241, + 451.7638 + ], + "actual_end_rot": [ + 15.0, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1616.2053, + 3782.1241, + 451.7638 + ], + "start_rot": [ + 15.0, + -45.0, + -0.0 + ], + "expected_end_pos": [ + -1545.4946, + 3852.8348, + 451.7638 + ], + "actual_end_pos": [ + -1545.4946, + 3852.8348, + 451.7638 + ], + "actual_end_rot": [ + 15.0, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1545.4946, + 3852.8348, + 451.7638 + ], + "start_rot": [ + 15.0, + -45.0, + -0.0 + ], + "expected_end_pos": [ + -1474.784, + 3923.5455, + 451.7638 + ], + "actual_end_pos": [ + -1474.784, + 3923.5455, + 451.7638 + ], + "actual_end_rot": [ + 15.0, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1474.784, + 3923.5455, + 451.7638 + ], + "start_rot": [ + 15.0, + -45.0, + -0.0 + ], + "expected_end_pos": [ + -1406.4827, + 3855.2442, + 477.6457 + ], + "actual_end_pos": [ + -1406.4827, + 3855.2442, + 477.6457 + ], + "actual_end_rot": [ + 15.0, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1406.4827, + 3855.2442, + 477.6457 + ], + "start_rot": [ + 15.0, + -45.0, + -0.0 + ], + "expected_end_pos": [ + -1406.4827, + 3855.2442, + 477.6457 + ], + "actual_end_pos": [ + -1406.4827, + 3855.2442, + 477.6457 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1406.4827, + 3855.2442, + 477.6457 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1406.4827, + 3855.2442, + 477.6457 + ], + "actual_end_pos": [ + -1406.4827, + 3855.2442, + 477.6457 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1406.4827, + 3855.2442, + 477.6457 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1456.0549, + 3941.1059, + 464.5931 + ], + "actual_end_pos": [ + -1456.0549, + 3941.1059, + 464.5931 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1456.0549, + 3941.1059, + 464.5931 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1505.6272, + 4026.9675, + 451.5405 + ], + "actual_end_pos": [ + -1505.6272, + 4026.9675, + 451.5405 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1505.6272, + 4026.9675, + 451.5405 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1592.2297, + 3976.9675, + 451.5405 + ], + "actual_end_pos": [ + -1592.2297, + 3976.9675, + 451.5405 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1592.2297, + 3976.9675, + 451.5405 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1678.8323, + 3926.9675, + 451.5405 + ], + "actual_end_pos": [ + -1678.8323, + 3926.9675, + 451.5405 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1678.8323, + 3926.9675, + 451.5405 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1765.4348, + 3876.9675, + 451.5405 + ], + "actual_end_pos": [ + -1765.4348, + 3876.9675, + 451.5405 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1765.4348, + 3876.9675, + 451.5405 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1852.0373, + 3826.9675, + 451.5405 + ], + "actual_end_pos": [ + -1852.0373, + 3826.9675, + 451.5405 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1852.0373, + 3826.9675, + 451.5405 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1938.6399, + 3776.9675, + 451.5405 + ], + "actual_end_pos": [ + -1938.6399, + 3776.9675, + 451.5405 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1938.6399, + 3776.9675, + 451.5405 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2025.2424, + 3726.9675, + 451.5405 + ], + "actual_end_pos": [ + -2025.2424, + 3726.9675, + 451.5405 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2025.2424, + 3726.9675, + 451.5405 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2025.2424, + 3726.9675, + 451.5405 + ], + "actual_end_pos": [ + -2025.2424, + 3726.9675, + 451.5405 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2025.2424, + 3726.9675, + 451.5405 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2025.2424, + 3726.9675, + 451.5405 + ], + "actual_end_pos": [ + -2025.2424, + 3726.9675, + 451.5405 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2025.2424, + 3726.9675, + 451.5405 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2025.2424, + 3726.9675, + 451.5405 + ], + "actual_end_pos": [ + -2025.2424, + 3726.9675, + 451.5405 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2025.2424, + 3726.9675, + 451.5405 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2025.2424, + 3726.9675, + 451.5405 + ], + "actual_end_pos": [ + -2025.2424, + 3726.9675, + 451.5405 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2025.2424, + 3726.9675, + 451.5405 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2025.2424, + 3726.9675, + 451.5405 + ], + "actual_end_pos": [ + -2025.2424, + 3726.9675, + 451.5405 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260407_174321__traj_000056_meta.json b/loop_easy/run_20260407_174321__traj_000056_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5bf2269054ccc52ff86a57c5941fac1f1c487921 --- /dev/null +++ b/loop_easy/run_20260407_174321__traj_000056_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 56, + "episode_id": 0, + "state_id": 38, + "sample_index": 38, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -45790.0, + -16990.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "turn_left", + "look_up", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "look_down", + "no_op", + "move_left", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "move_forward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45790.0, + -16990.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45790.0, + -16990.0, + 200.0 + ], + "actual_end_pos": [ + -45790.0, + -16990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -45790.0, + -16990.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45790.0, + -16990.0, + 200.0 + ], + "actual_end_pos": [ + -45790.0, + -16990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -45790.0, + -16990.0, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -45790.0, + -16990.0, + 200.0 + ], + "actual_end_pos": [ + -45790.0, + -16990.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -45790.0, + -16990.0, + 200.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -45815.6605, + -17085.7662, + 213.0526 + ], + "actual_end_pos": [ + -45815.6605, + -17085.7662, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -45815.6605, + -17085.7662, + 213.0526 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -45841.321, + -17181.5324, + 226.1052 + ], + "actual_end_pos": [ + -45841.321, + -17181.5324, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -45841.321, + -17181.5324, + 226.1052 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -45866.9814, + -17277.2987, + 239.1579 + ], + "actual_end_pos": [ + -45866.9814, + -17277.2987, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -45866.9814, + -17277.2987, + 239.1579 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -45892.6419, + -17373.0649, + 252.2105 + ], + "actual_end_pos": [ + -45892.6419, + -17373.0649, + 252.2105 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -45892.6419, + -17373.0649, + 252.2105 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -45892.6419, + -17373.0649, + 252.2105 + ], + "actual_end_pos": [ + -45892.6419, + -17373.0649, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45892.6419, + -17373.0649, + 252.2105 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -45892.6419, + -17373.0649, + 252.2105 + ], + "actual_end_pos": [ + -45892.6419, + -17373.0649, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -45892.6419, + -17373.0649, + 252.2105 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -45989.2345, + -17347.183, + 252.2105 + ], + "actual_end_pos": [ + -45989.2345, + -17347.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -45989.2345, + -17347.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -45989.2345, + -17347.183, + 252.2105 + ], + "actual_end_pos": [ + -45989.2345, + -17347.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -45989.2345, + -17347.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45989.2345, + -17447.183, + 252.2105 + ], + "actual_end_pos": [ + -45989.2345, + -17447.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -45989.2345, + -17447.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45989.2345, + -17547.183, + 252.2105 + ], + "actual_end_pos": [ + -45989.2345, + -17547.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -45989.2345, + -17547.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45989.2345, + -17647.183, + 252.2105 + ], + "actual_end_pos": [ + -45989.2345, + -17647.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -45989.2345, + -17647.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45889.2345, + -17647.183, + 252.2105 + ], + "actual_end_pos": [ + -45889.2345, + -17647.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -45889.2345, + -17647.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45889.2345, + -17747.183, + 252.2105 + ], + "actual_end_pos": [ + -45889.2345, + -17747.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -45889.2345, + -17747.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45889.2345, + -17647.183, + 252.2105 + ], + "actual_end_pos": [ + -45889.2345, + -17647.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -45889.2345, + -17647.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45889.2345, + -17547.183, + 252.2105 + ], + "actual_end_pos": [ + -45889.2345, + -17547.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -45889.2345, + -17547.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45889.2345, + -17447.183, + 252.2105 + ], + "actual_end_pos": [ + -45889.2345, + -17447.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -45889.2345, + -17447.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45889.2345, + -17347.183, + 252.2105 + ], + "actual_end_pos": [ + -45889.2345, + -17347.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -45889.2345, + -17347.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45889.2345, + -17247.183, + 252.2105 + ], + "actual_end_pos": [ + -45889.2345, + -17247.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -45889.2345, + -17247.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45889.2345, + -17147.183, + 252.2105 + ], + "actual_end_pos": [ + -45889.2345, + -17147.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -45889.2345, + -17147.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45889.2345, + -17047.183, + 252.2105 + ], + "actual_end_pos": [ + -45889.2345, + -17047.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -45889.2345, + -17047.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45889.2345, + -16947.183, + 252.2105 + ], + "actual_end_pos": [ + -45889.2345, + -16947.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -45889.2345, + -16947.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_pos": [ + -45789.2345, + -16947.183, + 252.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260407_174321__traj_000337_meta.json b/loop_easy/run_20260407_174321__traj_000337_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b022b32e5cca03941937551fa5c89b5e489ddf23 --- /dev/null +++ b/loop_easy/run_20260407_174321__traj_000337_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 337, + "episode_id": 0, + "state_id": 251, + "sample_index": 251, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -45790.0, + 13010.0, + 200.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "turn_right", + "move_left", + "turn_left", + "look_up", + "no_op", + "move_left", + "turn_right", + "move_right", + "look_down", + "move_right", + "look_up", + "turn_left", + "move_left", + "look_down", + "move_forward", + "move_left", + "move_left", + "move_left", + "move_forward", + "move_forward", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -45790.0, + 13010.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45790.0, + 13010.0, + 200.0 + ], + "actual_end_pos": [ + -45790.0, + 13010.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -45790.0, + 13010.0, + 200.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45790.0, + 13010.0, + 200.0 + ], + "actual_end_pos": [ + -45790.0, + 13010.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -45790.0, + 13010.0, + 200.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -45740.0, + 13096.6025, + 200.0 + ], + "actual_end_pos": [ + -45740.0, + 13096.6025, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -45740.0, + 13096.6025, + 200.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -45740.0, + 13096.6025, + 200.0 + ], + "actual_end_pos": [ + -45740.0, + 13096.6025, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -45740.0, + 13096.6025, + 200.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45740.0, + 13096.6025, + 200.0 + ], + "actual_end_pos": [ + -45740.0, + 13096.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45740.0, + 13096.6025, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45740.0, + 13096.6025, + 200.0 + ], + "actual_end_pos": [ + -45740.0, + 13096.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -45740.0, + 13096.6025, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45669.2893, + 13167.3132, + 200.0 + ], + "actual_end_pos": [ + -45669.2893, + 13167.3132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -45669.2893, + 13167.3132, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45669.2893, + 13167.3132, + 200.0 + ], + "actual_end_pos": [ + -45669.2893, + 13167.3132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -45669.2893, + 13167.3132, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -45719.2893, + 13080.7107, + 200.0 + ], + "actual_end_pos": [ + -45719.2893, + 13080.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -45719.2893, + 13080.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -45719.2893, + 13080.7107, + 200.0 + ], + "actual_end_pos": [ + -45719.2893, + 13080.7107, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -45719.2893, + 13080.7107, + 200.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -45769.2893, + 12994.1081, + 200.0 + ], + "actual_end_pos": [ + -45769.2893, + 12994.1081, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -45769.2893, + 12994.1081, + 200.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -45769.2893, + 12994.1081, + 200.0 + ], + "actual_end_pos": [ + -45769.2893, + 12994.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -45769.2893, + 12994.1081, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -45769.2893, + 12994.1081, + 200.0 + ], + "actual_end_pos": [ + -45769.2893, + 12994.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -45769.2893, + 12994.1081, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45698.5786, + 13064.8188, + 200.0 + ], + "actual_end_pos": [ + -45698.5786, + 13064.8188, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -45698.5786, + 13064.8188, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45698.5786, + 13064.8188, + 200.0 + ], + "actual_end_pos": [ + -45698.5786, + 13064.8188, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -45698.5786, + 13064.8188, + 200.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45768.6844, + 13134.9246, + 186.9474 + ], + "actual_end_pos": [ + -45768.6844, + 13134.9246, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -45768.6844, + 13134.9246, + 186.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45697.9737, + 13205.6352, + 186.9474 + ], + "actual_end_pos": [ + -45697.9737, + 13205.6352, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -45697.9737, + 13205.6352, + 186.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45627.263, + 13276.3459, + 186.9474 + ], + "actual_end_pos": [ + -45627.263, + 13276.3459, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -45627.263, + 13276.3459, + 186.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45556.5523, + 13347.0566, + 186.9474 + ], + "actual_end_pos": [ + -45556.5523, + 13347.0566, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -45556.5523, + 13347.0566, + 186.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45626.6581, + 13417.1623, + 173.8948 + ], + "actual_end_pos": [ + -45626.6581, + 13417.1623, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -45626.6581, + 13417.1623, + 173.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45696.7638, + 13487.2681, + 160.8421 + ], + "actual_end_pos": [ + -45696.7638, + 13487.2681, + 160.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -45696.7638, + 13487.2681, + 160.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45696.7638, + 13487.2681, + 160.8421 + ], + "actual_end_pos": [ + -45696.7638, + 13487.2681, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -45696.7638, + 13487.2681, + 160.8421 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45626.0531, + 13416.5574, + 160.8421 + ], + "actual_end_pos": [ + -45626.0531, + 13416.5574, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -45626.0531, + 13416.5574, + 160.8421 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45555.3425, + 13345.8467, + 160.8421 + ], + "actual_end_pos": [ + -45555.3425, + 13345.8467, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -45555.3425, + 13345.8467, + 160.8421 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45484.6318, + 13275.136, + 160.8421 + ], + "actual_end_pos": [ + -45484.6318, + 13275.136, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -45484.6318, + 13275.136, + 160.8421 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45555.3425, + 13204.4253, + 160.8421 + ], + "actual_end_pos": [ + -45555.3425, + 13204.4253, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -45555.3425, + 13204.4253, + 160.8421 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45626.0531, + 13133.7147, + 160.8421 + ], + "actual_end_pos": [ + -45626.0531, + 13133.7147, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -45626.0531, + 13133.7147, + 160.8421 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45696.7638, + 13063.004, + 160.8421 + ], + "actual_end_pos": [ + -45696.7638, + 13063.004, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -45696.7638, + 13063.004, + 160.8421 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_pos": [ + -45767.4745, + 12992.2933, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260407_174321__traj_001827_meta.json b/loop_easy/run_20260407_174321__traj_001827_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f39aa5ce598dd6faa71cbd42a3bdad39bdd75394 --- /dev/null +++ b/loop_easy/run_20260407_174321__traj_001827_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1827, + "episode_id": 0, + "state_id": 1340, + "sample_index": 1340, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -41790.0, + 19010.0, + 200.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_right", + "look_up", + "move_backward", + "move_right", + "look_down", + "move_backward", + "move_right", + "turn_left", + "move_right", + "move_forward", + "move_right", + "move_forward", + "turn_right", + "move_forward", + "move_right", + "no_op", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -41790.0, + 19010.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41790.0, + 19010.0, + 200.0 + ], + "actual_end_pos": [ + -41790.0, + 19010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -41790.0, + 19010.0, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41815.8819, + 18913.4074, + 200.0 + ], + "actual_end_pos": [ + -41815.8819, + 18913.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -41815.8819, + 18913.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41815.8819, + 18913.4074, + 200.0 + ], + "actual_end_pos": [ + -41815.8819, + 18913.4074, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -41815.8819, + 18913.4074, + 200.0 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41720.1157, + 18887.7469, + 186.9474 + ], + "actual_end_pos": [ + -41720.1157, + 18887.7469, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -41720.1157, + 18887.7469, + 186.9474 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41745.9976, + 18791.1544, + 186.9474 + ], + "actual_end_pos": [ + -41745.9976, + 18791.1544, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -41745.9976, + 18791.1544, + 186.9474 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41745.9976, + 18791.1544, + 186.9474 + ], + "actual_end_pos": [ + -41745.9976, + 18791.1544, + 186.9474 + ], + "actual_end_rot": [ + -0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -41745.9976, + 18791.1544, + 186.9474 + ], + "start_rot": [ + -0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41649.405, + 18765.2724, + 186.9474 + ], + "actual_end_pos": [ + -41649.405, + 18765.2724, + 186.9474 + ], + "actual_end_rot": [ + -0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -41649.405, + 18765.2724, + 186.9474 + ], + "start_rot": [ + -0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41675.2869, + 18668.6799, + 186.9474 + ], + "actual_end_pos": [ + -41675.2869, + 18668.6799, + 186.9474 + ], + "actual_end_rot": [ + -0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -41675.2869, + 18668.6799, + 186.9474 + ], + "start_rot": [ + -0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41675.2869, + 18668.6799, + 186.9474 + ], + "actual_end_pos": [ + -41675.2869, + 18668.6799, + 186.9474 + ], + "actual_end_rot": [ + -0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -41675.2869, + 18668.6799, + 186.9474 + ], + "start_rot": [ + -0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -41725.2869, + 18582.0773, + 186.9474 + ], + "actual_end_pos": [ + -41725.2869, + 18582.0773, + 186.9474 + ], + "actual_end_rot": [ + -0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -41725.2869, + 18582.0773, + 186.9474 + ], + "start_rot": [ + -0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -41811.8895, + 18632.0773, + 186.9474 + ], + "actual_end_pos": [ + -41811.8895, + 18632.0773, + 186.9474 + ], + "actual_end_rot": [ + -0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -41811.8895, + 18632.0773, + 186.9474 + ], + "start_rot": [ + -0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -41861.8895, + 18545.4748, + 186.9474 + ], + "actual_end_pos": [ + -41861.8895, + 18545.4748, + 186.9474 + ], + "actual_end_rot": [ + -0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -41861.8895, + 18545.4748, + 186.9474 + ], + "start_rot": [ + -0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -41948.492, + 18595.4748, + 186.9474 + ], + "actual_end_pos": [ + -41948.492, + 18595.4748, + 186.9474 + ], + "actual_end_rot": [ + -0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -41948.492, + 18595.4748, + 186.9474 + ], + "start_rot": [ + -0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -41948.492, + 18595.4748, + 186.9474 + ], + "actual_end_pos": [ + -41948.492, + 18595.4748, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -41948.492, + 18595.4748, + 186.9474 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -42045.0846, + 18621.3567, + 186.9474 + ], + "actual_end_pos": [ + -42045.0846, + 18621.3567, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42045.0846, + 18621.3567, + 186.9474 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -42070.9665, + 18524.7641, + 186.9474 + ], + "actual_end_pos": [ + -42070.9665, + 18524.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42070.9665, + 18524.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -42070.9665, + 18524.7641, + 186.9474 + ], + "actual_end_pos": [ + -42070.9665, + 18524.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -42070.9665, + 18524.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -42070.9665, + 18524.7641, + 186.9474 + ], + "actual_end_pos": [ + -42070.9665, + 18524.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42070.9665, + 18524.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41970.9665, + 18524.7641, + 186.9474 + ], + "actual_end_pos": [ + -41970.9665, + 18524.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -41970.9665, + 18524.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41870.9665, + 18524.7641, + 186.9474 + ], + "actual_end_pos": [ + -41870.9665, + 18524.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -41870.9665, + 18524.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41770.9665, + 18524.7641, + 186.9474 + ], + "actual_end_pos": [ + -41770.9665, + 18524.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -41770.9665, + 18524.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41770.9665, + 18624.7641, + 186.9474 + ], + "actual_end_pos": [ + -41770.9665, + 18624.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -41770.9665, + 18624.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41770.9665, + 18724.7641, + 186.9474 + ], + "actual_end_pos": [ + -41770.9665, + 18724.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -41770.9665, + 18724.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41770.9665, + 18824.7641, + 186.9474 + ], + "actual_end_pos": [ + -41770.9665, + 18824.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -41770.9665, + 18824.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41770.9665, + 18924.7641, + 186.9474 + ], + "actual_end_pos": [ + -41770.9665, + 18924.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -41770.9665, + 18924.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_pos": [ + -41770.9665, + 19024.7641, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260407_174321__traj_002580_meta.json b/loop_easy/run_20260407_174321__traj_002580_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..506309faedaa91b382d67a986cca663640fe0a09 --- /dev/null +++ b/loop_easy/run_20260407_174321__traj_002580_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2580, + "episode_id": 0, + "state_id": 1914, + "sample_index": 1914, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -38790.0, + -16990.0, + 200.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "turn_right", + "move_backward", + "look_up", + "no_op", + "move_forward", + "move_right", + "move_backward", + "turn_left", + "look_up", + "move_forward", + "move_right", + "move_backward", + "turn_left", + "move_forward", + "move_forward", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "look_up", + "turn_left", + "move_forward", + "move_forward", + "move_left", + "turn_left", + "look_down", + "turn_right", + "turn_right", + "turn_right", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -38790.0, + -16990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -38890.0, + -16990.0, + 200.0 + ], + "actual_end_pos": [ + -38890.0, + -16990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -38890.0, + -16990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -38890.0, + -16990.0, + 200.0 + ], + "actual_end_pos": [ + -38890.0, + -16990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -38890.0, + -16990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -38864.1181, + -17086.5926, + 200.0 + ], + "actual_end_pos": [ + -38864.1181, + -17086.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -38864.1181, + -17086.5926, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -38864.1181, + -17086.5926, + 200.0 + ], + "actual_end_pos": [ + -38864.1181, + -17086.5926, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -38864.1181, + -17086.5926, + 200.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -38864.1181, + -17086.5926, + 200.0 + ], + "actual_end_pos": [ + -38864.1181, + -17086.5926, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -38864.1181, + -17086.5926, + 200.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -38889.7786, + -16990.8264, + 213.0526 + ], + "actual_end_pos": [ + -38889.7786, + -16990.8264, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -38889.7786, + -16990.8264, + 213.0526 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -38986.3712, + -17016.7083, + 213.0526 + ], + "actual_end_pos": [ + -38986.3712, + -17016.7083, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -38986.3712, + -17016.7083, + 213.0526 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -38960.7107, + -17112.4745, + 200.0 + ], + "actual_end_pos": [ + -38960.7107, + -17112.4745, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -38960.7107, + -17112.4745, + 200.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -38960.7107, + -17112.4745, + 200.0 + ], + "actual_end_pos": [ + -38960.7107, + -17112.4745, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -38960.7107, + -17112.4745, + 200.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -38960.7107, + -17112.4745, + 200.0 + ], + "actual_end_pos": [ + -38960.7107, + -17112.4745, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -38960.7107, + -17112.4745, + 200.0 + ], + "start_rot": [ + 15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -38960.7107, + -17015.8819, + 225.8819 + ], + "actual_end_pos": [ + -38960.7107, + -17015.8819, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -38960.7107, + -17015.8819, + 225.8819 + ], + "start_rot": [ + 15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -39060.7107, + -17015.8819, + 225.8819 + ], + "actual_end_pos": [ + -39060.7107, + -17015.8819, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -39060.7107, + -17015.8819, + 225.8819 + ], + "start_rot": [ + 15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -39060.7107, + -17112.4745, + 200.0 + ], + "actual_end_pos": [ + -39060.7107, + -17112.4745, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -39060.7107, + -17112.4745, + 200.0 + ], + "start_rot": [ + 15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -39060.7107, + -17112.4745, + 200.0 + ], + "actual_end_pos": [ + -39060.7107, + -17112.4745, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -39060.7107, + -17112.4745, + 200.0 + ], + "start_rot": [ + 15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -39035.7107, + -17019.1732, + 225.8819 + ], + "actual_end_pos": [ + -39035.7107, + -17019.1732, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -39035.7107, + -17019.1732, + 225.8819 + ], + "start_rot": [ + 15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -39010.7107, + -16925.8719, + 251.7638 + ], + "actual_end_pos": [ + -39010.7107, + -16925.8719, + 251.7638 + ], + "actual_end_rot": [ + 15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -39010.7107, + -16925.8719, + 251.7638 + ], + "start_rot": [ + 15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -39107.3033, + -16899.99, + 251.7638 + ], + "actual_end_pos": [ + -39107.3033, + -16899.99, + 251.7638 + ], + "actual_end_rot": [ + 15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -39107.3033, + -16899.99, + 251.7638 + ], + "start_rot": [ + 15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -39082.3033, + -16806.6888, + 277.6457 + ], + "actual_end_pos": [ + -39082.3033, + -16806.6888, + 277.6457 + ], + "actual_end_rot": [ + 15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -39082.3033, + -16806.6888, + 277.6457 + ], + "start_rot": [ + 15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -39057.3033, + -16713.3875, + 303.5276 + ], + "actual_end_pos": [ + -39057.3033, + -16713.3875, + 303.5276 + ], + "actual_end_rot": [ + 15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -39057.3033, + -16713.3875, + 303.5276 + ], + "start_rot": [ + 15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -39032.3033, + -16620.0862, + 329.4095 + ], + "actual_end_pos": [ + -39032.3033, + -16620.0862, + 329.4095 + ], + "actual_end_rot": [ + 15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -39032.3033, + -16620.0862, + 329.4095 + ], + "start_rot": [ + 15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -39128.8958, + -16594.2043, + 329.4095 + ], + "actual_end_pos": [ + -39128.8958, + -16594.2043, + 329.4095 + ], + "actual_end_rot": [ + 15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -39128.8958, + -16594.2043, + 329.4095 + ], + "start_rot": [ + 15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -39128.8958, + -16594.2043, + 329.4095 + ], + "actual_end_pos": [ + -39128.8958, + -16594.2043, + 329.4095 + ], + "actual_end_rot": [ + 22.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -39128.8958, + -16594.2043, + 329.4095 + ], + "start_rot": [ + 22.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -39128.8958, + -16594.2043, + 329.4095 + ], + "actual_end_pos": [ + -39128.8958, + -16594.2043, + 329.4095 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -39128.8958, + -16594.2043, + 329.4095 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -39082.7019, + -16514.194, + 367.6779 + ], + "actual_end_pos": [ + -39082.7019, + -16514.194, + 367.6779 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -39082.7019, + -16514.194, + 367.6779 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -39036.5079, + -16434.1837, + 405.9462 + ], + "actual_end_pos": [ + -39036.5079, + -16434.1837, + 405.9462 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39036.5079, + -16434.1837, + 405.9462 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -38949.9053, + -16484.1837, + 405.9462 + ], + "actual_end_pos": [ + -38949.9053, + -16484.1837, + 405.9462 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -38949.9053, + -16484.1837, + 405.9462 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -38949.9053, + -16484.1837, + 405.9462 + ], + "actual_end_pos": [ + -38949.9053, + -16484.1837, + 405.9462 + ], + "actual_end_rot": [ + 22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -38949.9053, + -16484.1837, + 405.9462 + ], + "start_rot": [ + 22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -38949.9053, + -16484.1837, + 405.9462 + ], + "actual_end_pos": [ + -38949.9053, + -16484.1837, + 405.9462 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -38949.9053, + -16484.1837, + 405.9462 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -38949.9053, + -16484.1837, + 405.9462 + ], + "actual_end_pos": [ + -38949.9053, + -16484.1837, + 405.9462 + ], + "actual_end_rot": [ + 15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -38949.9053, + -16484.1837, + 405.9462 + ], + "start_rot": [ + 15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -38949.9053, + -16484.1837, + 405.9462 + ], + "actual_end_pos": [ + -38949.9053, + -16484.1837, + 405.9462 + ], + "actual_end_rot": [ + 15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -38949.9053, + -16484.1837, + 405.9462 + ], + "start_rot": [ + 15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -38949.9053, + -16484.1837, + 405.9462 + ], + "actual_end_pos": [ + -38949.9053, + -16484.1837, + 405.9462 + ], + "actual_end_rot": [ + 15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -38949.9053, + -16484.1837, + 405.9462 + ], + "start_rot": [ + 15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -38949.9053, + -16484.1837, + 405.9462 + ], + "actual_end_pos": [ + -38949.9053, + -16484.1837, + 405.9462 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -38949.9053, + -16484.1837, + 405.9462 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -38949.9053, + -16583.3282, + 392.8936 + ], + "actual_end_pos": [ + -38949.9053, + -16583.3282, + 392.8936 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -38949.9053, + -16583.3282, + 392.8936 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -38949.9053, + -16682.4727, + 379.841 + ], + "actual_end_pos": [ + -38949.9053, + -16682.4727, + 379.841 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -38949.9053, + -16682.4727, + 379.841 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -38949.9053, + -16781.6172, + 366.7884 + ], + "actual_end_pos": [ + -38949.9053, + -16781.6172, + 366.7884 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -38949.9053, + -16781.6172, + 366.7884 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -38949.9053, + -16880.7616, + 353.7357 + ], + "actual_end_pos": [ + -38949.9053, + -16880.7616, + 353.7357 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -38949.9053, + -16880.7616, + 353.7357 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -38949.9054, + -16979.9061, + 340.6831 + ], + "actual_end_pos": [ + -38949.9054, + -16979.9061, + 340.6831 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -38949.9054, + -16979.9061, + 340.6831 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -38849.9054, + -16979.9061, + 340.6831 + ], + "actual_end_pos": [ + -38849.9054, + -16979.9061, + 340.6831 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -38849.9054, + -16979.9061, + 340.6831 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -38749.9054, + -16979.9061, + 340.6831 + ], + "actual_end_pos": [ + -38749.9054, + -16979.9061, + 340.6831 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -38749.9054, + -16979.9061, + 340.6831 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -38749.9054, + -16979.9061, + 340.6831 + ], + "actual_end_pos": [ + -38749.9054, + -16979.9061, + 340.6831 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260407_174321__traj_002619_meta.json b/loop_easy/run_20260407_174321__traj_002619_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b1e96535cf875c3174b0df728741a9a853d7ce66 --- /dev/null +++ b/loop_easy/run_20260407_174321__traj_002619_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2619, + "episode_id": 0, + "state_id": 1940, + "sample_index": 1940, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -38790.0, + -8990.0, + 200.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_right", + "move_forward", + "move_forward", + "look_up", + "look_up", + "no_op", + "move_forward", + "move_left", + "move_backward", + "turn_right", + "move_left", + "move_left", + "look_down", + "move_left", + "move_backward", + "move_right", + "look_down", + "no_op", + "move_left", + "look_down", + "move_left", + "turn_left", + "look_down", + "look_down", + "move_backward", + "turn_left", + "look_up", + "look_up", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -38790.0, + -8990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -38790.0, + -8990.0, + 200.0 + ], + "actual_end_pos": [ + -38790.0, + -8990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -38790.0, + -8990.0, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -38764.1181, + -9086.5926, + 200.0 + ], + "actual_end_pos": [ + -38764.1181, + -9086.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -38764.1181, + -9086.5926, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -38860.7107, + -9112.4745, + 200.0 + ], + "actual_end_pos": [ + -38860.7107, + -9112.4745, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -38860.7107, + -9112.4745, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -38957.3033, + -9138.3564, + 200.0 + ], + "actual_end_pos": [ + -38957.3033, + -9138.3564, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -38957.3033, + -9138.3564, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -38957.3033, + -9138.3564, + 200.0 + ], + "actual_end_pos": [ + -38957.3033, + -9138.3564, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -38957.3033, + -9138.3564, + 200.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -38957.3033, + -9138.3564, + 200.0 + ], + "actual_end_pos": [ + -38957.3033, + -9138.3564, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -38957.3033, + -9138.3564, + 200.0 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -38957.3033, + -9138.3564, + 200.0 + ], + "actual_end_pos": [ + -38957.3033, + -9138.3564, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -38957.3033, + -9138.3564, + 200.0 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -39050.6045, + -9163.3564, + 225.8819 + ], + "actual_end_pos": [ + -39050.6045, + -9163.3564, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39050.6045, + -9163.3564, + 225.8819 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -39076.4864, + -9066.7638, + 225.8819 + ], + "actual_end_pos": [ + -39076.4864, + -9066.7638, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -39076.4864, + -9066.7638, + 225.8819 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -38983.1852, + -9041.7638, + 200.0 + ], + "actual_end_pos": [ + -38983.1852, + -9041.7638, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -38983.1852, + -9041.7638, + 200.0 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -38983.1852, + -9041.7638, + 200.0 + ], + "actual_end_pos": [ + -38983.1852, + -9041.7638, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -38983.1852, + -9041.7638, + 200.0 + ], + "start_rot": [ + 15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -39033.1852, + -8955.1613, + 200.0 + ], + "actual_end_pos": [ + -39033.1852, + -8955.1613, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39033.1852, + -8955.1613, + 200.0 + ], + "start_rot": [ + 15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -39083.1852, + -8868.5587, + 200.0 + ], + "actual_end_pos": [ + -39083.1852, + -8868.5587, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -39083.1852, + -8868.5587, + 200.0 + ], + "start_rot": [ + 15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -39083.1852, + -8868.5587, + 200.0 + ], + "actual_end_pos": [ + -39083.1852, + -8868.5587, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39083.1852, + -8868.5587, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -39133.1852, + -8781.9562, + 200.0 + ], + "actual_end_pos": [ + -39133.1852, + -8781.9562, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -39133.1852, + -8781.9562, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -39047.3235, + -8732.384, + 186.9474 + ], + "actual_end_pos": [ + -39047.3235, + -8732.384, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -39047.3235, + -8732.384, + 186.9474 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -38997.3235, + -8818.9865, + 186.9474 + ], + "actual_end_pos": [ + -38997.3235, + -8818.9865, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -38997.3235, + -8818.9865, + 186.9474 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -38997.3235, + -8818.9865, + 186.9474 + ], + "actual_end_pos": [ + -38997.3235, + -8818.9865, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -38997.3235, + -8818.9865, + 186.9474 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -38997.3235, + -8818.9865, + 186.9474 + ], + "actual_end_pos": [ + -38997.3235, + -8818.9865, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -38997.3235, + -8818.9865, + 186.9474 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -39047.3235, + -8732.384, + 186.9474 + ], + "actual_end_pos": [ + -39047.3235, + -8732.384, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -39047.3235, + -8732.384, + 186.9474 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -39047.3235, + -8732.384, + 186.9474 + ], + "actual_end_pos": [ + -39047.3235, + -8732.384, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39047.3235, + -8732.384, + 186.9474 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -39097.3235, + -8645.7814, + 186.9474 + ], + "actual_end_pos": [ + -39097.3235, + -8645.7814, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -39097.3235, + -8645.7814, + 186.9474 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -39097.3235, + -8645.7814, + 186.9474 + ], + "actual_end_pos": [ + -39097.3235, + -8645.7814, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -39097.3235, + -8645.7814, + 186.9474 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -39097.3235, + -8645.7814, + 186.9474 + ], + "actual_end_pos": [ + -39097.3235, + -8645.7814, + 186.9474 + ], + "actual_end_rot": [ + -15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -39097.3235, + -8645.7814, + 186.9474 + ], + "start_rot": [ + -15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -39097.3235, + -8645.7814, + 186.9474 + ], + "actual_end_pos": [ + -39097.3235, + -8645.7814, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -39097.3235, + -8645.7814, + 186.9474 + ], + "start_rot": [ + -22.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -39008.0836, + -8621.8696, + 225.2157 + ], + "actual_end_pos": [ + -39008.0836, + -8621.8696, + 225.2157 + ], + "actual_end_rot": [ + -22.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -39008.0836, + -8621.8696, + 225.2157 + ], + "start_rot": [ + -22.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -39008.0836, + -8621.8696, + 225.2157 + ], + "actual_end_pos": [ + -39008.0836, + -8621.8696, + 225.2157 + ], + "actual_end_rot": [ + -22.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -39008.0836, + -8621.8696, + 225.2157 + ], + "start_rot": [ + -22.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -39008.0836, + -8621.8696, + 225.2157 + ], + "actual_end_pos": [ + -39008.0836, + -8621.8696, + 225.2157 + ], + "actual_end_rot": [ + -15.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -39008.0836, + -8621.8696, + 225.2157 + ], + "start_rot": [ + -15.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -39008.0836, + -8621.8696, + 225.2157 + ], + "actual_end_pos": [ + -39008.0836, + -8621.8696, + 225.2157 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -39008.0836, + -8621.8696, + 225.2157 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -38908.9391, + -8621.8696, + 238.2683 + ], + "actual_end_pos": [ + -38908.9391, + -8621.8696, + 238.2683 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -38908.9391, + -8621.8696, + 238.2683 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -38809.7946, + -8621.8697, + 251.321 + ], + "actual_end_pos": [ + -38809.7946, + -8621.8697, + 251.321 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -38809.7946, + -8621.8697, + 251.321 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -38809.7946, + -8721.8697, + 251.321 + ], + "actual_end_pos": [ + -38809.7946, + -8721.8697, + 251.321 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -38809.7946, + -8721.8697, + 251.321 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -38809.7947, + -8821.8697, + 251.321 + ], + "actual_end_pos": [ + -38809.7947, + -8821.8697, + 251.321 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -38809.7947, + -8821.8697, + 251.321 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -38809.7947, + -8921.8697, + 251.321 + ], + "actual_end_pos": [ + -38809.7947, + -8921.8697, + 251.321 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -38809.7947, + -8921.8697, + 251.321 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -38809.7947, + -9021.8697, + 251.321 + ], + "actual_end_pos": [ + -38809.7947, + -9021.8697, + 251.321 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -38809.7947, + -9021.8697, + 251.321 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -38809.7947, + -9021.8697, + 251.321 + ], + "actual_end_pos": [ + -38809.7947, + -9021.8697, + 251.321 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -38809.7947, + -9021.8697, + 251.321 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -38809.7947, + -9021.8697, + 251.321 + ], + "actual_end_pos": [ + -38809.7947, + -9021.8697, + 251.321 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -38809.7947, + -9021.8697, + 251.321 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -38809.7947, + -9021.8697, + 251.321 + ], + "actual_end_pos": [ + -38809.7947, + -9021.8697, + 251.321 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -38809.7947, + -9021.8697, + 251.321 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -38809.7947, + -9021.8697, + 251.321 + ], + "actual_end_pos": [ + -38809.7947, + -9021.8697, + 251.321 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -38809.7947, + -9021.8697, + 251.321 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -38809.7947, + -9021.8697, + 251.321 + ], + "actual_end_pos": [ + -38809.7947, + -9021.8697, + 251.321 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260407_174321__traj_003040_meta.json b/loop_easy/run_20260407_174321__traj_003040_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f1529d2351d7c53edd34e5b53a30a590c77fff30 --- /dev/null +++ b/loop_easy/run_20260407_174321__traj_003040_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3040, + "episode_id": 0, + "state_id": 2253, + "sample_index": 2253, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -37790.0, + -4990.0, + 200.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "turn_left", + "look_down", + "move_backward", + "move_left", + "turn_right", + "look_down", + "turn_right", + "move_forward", + "move_right", + "look_up", + "move_backward", + "turn_right", + "turn_right", + "look_up", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -37790.0, + -4990.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37790.0, + -4990.0, + 200.0 + ], + "actual_end_pos": [ + -37790.0, + -4990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -37790.0, + -4990.0, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -37790.0, + -4990.0, + 200.0 + ], + "actual_end_pos": [ + -37790.0, + -4990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -37790.0, + -4990.0, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -37790.0, + -4990.0, + 200.0 + ], + "actual_end_pos": [ + -37790.0, + -4990.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -37790.0, + -4990.0, + 200.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -37694.2338, + -4964.3395, + 213.0526 + ], + "actual_end_pos": [ + -37694.2338, + -4964.3395, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -37694.2338, + -4964.3395, + 213.0526 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -37720.1157, + -4867.7469, + 213.0526 + ], + "actual_end_pos": [ + -37720.1157, + -4867.7469, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -37720.1157, + -4867.7469, + 213.0526 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -37720.1157, + -4867.7469, + 213.0526 + ], + "actual_end_pos": [ + -37720.1157, + -4867.7469, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -37720.1157, + -4867.7469, + 213.0526 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -37720.1157, + -4867.7469, + 213.0526 + ], + "actual_end_pos": [ + -37720.1157, + -4867.7469, + 213.0526 + ], + "actual_end_rot": [ + -15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -37720.1157, + -4867.7469, + 213.0526 + ], + "start_rot": [ + -15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -37720.1157, + -4867.7469, + 213.0526 + ], + "actual_end_pos": [ + -37720.1157, + -4867.7469, + 213.0526 + ], + "actual_end_rot": [ + -15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -37720.1157, + -4867.7469, + 213.0526 + ], + "start_rot": [ + -15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37788.417, + -4936.0482, + 187.1707 + ], + "actual_end_pos": [ + -37788.417, + -4936.0482, + 187.1707 + ], + "actual_end_rot": [ + -15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -37788.417, + -4936.0482, + 187.1707 + ], + "start_rot": [ + -15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37717.7063, + -5006.7589, + 187.1707 + ], + "actual_end_pos": [ + -37717.7063, + -5006.7589, + 187.1707 + ], + "actual_end_rot": [ + -15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -37717.7063, + -5006.7589, + 187.1707 + ], + "start_rot": [ + -15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37717.7063, + -5006.7589, + 187.1707 + ], + "actual_end_pos": [ + -37717.7063, + -5006.7589, + 187.1707 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -37717.7063, + -5006.7589, + 187.1707 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37647.6005, + -4936.6531, + 200.2233 + ], + "actual_end_pos": [ + -37647.6005, + -4936.6531, + 200.2233 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -37647.6005, + -4936.6531, + 200.2233 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37647.6005, + -4936.6531, + 200.2233 + ], + "actual_end_pos": [ + -37647.6005, + -4936.6531, + 200.2233 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -37647.6005, + -4936.6531, + 200.2233 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -37647.6005, + -4936.6531, + 200.2233 + ], + "actual_end_pos": [ + -37647.6005, + -4936.6531, + 200.2233 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -37647.6005, + -4936.6531, + 200.2233 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37647.6005, + -4936.6531, + 200.2233 + ], + "actual_end_pos": [ + -37647.6005, + -4936.6531, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -37647.6005, + -4936.6531, + 200.2233 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37673.4824, + -5033.2457, + 200.2233 + ], + "actual_end_pos": [ + -37673.4824, + -5033.2457, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -37673.4824, + -5033.2457, + 200.2233 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37673.4824, + -5033.2457, + 200.2233 + ], + "actual_end_pos": [ + -37673.4824, + -5033.2457, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -37673.4824, + -5033.2457, + 200.2233 + ], + "start_rot": [ + 0.0, + -90.0, + -0.0 + ], + "expected_end_pos": [ + -37673.4824, + -5033.2457, + 200.2233 + ], + "actual_end_pos": [ + -37673.4824, + -5033.2457, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -37673.4824, + -5033.2457, + 200.2233 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -37673.4824, + -5033.2457, + 200.2233 + ], + "actual_end_pos": [ + -37673.4824, + -5033.2457, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -37673.4824, + -5033.2457, + 200.2233 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -37623.4824, + -5119.8483, + 200.2233 + ], + "actual_end_pos": [ + -37623.4824, + -5119.8483, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -37623.4824, + -5119.8483, + 200.2233 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -37573.4824, + -5206.4508, + 200.2233 + ], + "actual_end_pos": [ + -37573.4824, + -5206.4508, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -37573.4824, + -5206.4508, + 200.2233 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -37573.4824, + -5206.4508, + 200.2233 + ], + "actual_end_pos": [ + -37573.4824, + -5206.4508, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -37573.4824, + -5206.4508, + 200.2233 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -37670.075, + -5232.3327, + 200.2233 + ], + "actual_end_pos": [ + -37670.075, + -5232.3327, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -37670.075, + -5232.3327, + 200.2233 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -37670.075, + -5232.3327, + 200.2233 + ], + "actual_end_pos": [ + -37670.075, + -5232.3327, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -37670.075, + -5232.3327, + 200.2233 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37670.075, + -5232.3327, + 200.2233 + ], + "actual_end_pos": [ + -37670.075, + -5232.3327, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -37670.075, + -5232.3327, + 200.2233 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37670.075, + -5232.3327, + 200.2233 + ], + "actual_end_pos": [ + -37670.075, + -5232.3327, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -37670.075, + -5232.3327, + 200.2233 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + -37670.075, + -5232.3327, + 200.2233 + ], + "actual_end_pos": [ + -37670.075, + -5232.3327, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -37670.075, + -5232.3327, + 200.2233 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + -37599.3643, + -5161.622, + 200.2233 + ], + "actual_end_pos": [ + -37599.3643, + -5161.622, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -37599.3643, + -5161.622, + 200.2233 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + -37670.075, + -5090.9114, + 200.2233 + ], + "actual_end_pos": [ + -37670.075, + -5090.9114, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -37670.075, + -5090.9114, + 200.2233 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + -37740.7857, + -5020.2007, + 200.2233 + ], + "actual_end_pos": [ + -37740.7857, + -5020.2007, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -37740.7857, + -5020.2007, + 200.2233 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "actual_end_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "actual_end_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "actual_end_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "actual_end_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "actual_end_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "actual_end_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "actual_end_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "actual_end_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "actual_end_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "actual_end_pos": [ + -37811.4964, + -4949.49, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260407_174321__traj_003060_meta.json b/loop_easy/run_20260407_174321__traj_003060_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..527f16772e23b344af9c497ab69d0c6669001518 --- /dev/null +++ b/loop_easy/run_20260407_174321__traj_003060_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3060, + "episode_id": 0, + "state_id": 2266, + "sample_index": 2266, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -37790.0, + -2990.0, + 200.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_backward", + "look_up", + "move_right", + "move_forward", + "move_backward", + "turn_left", + "move_right", + "move_forward", + "move_left", + "no_op", + "move_forward", + "look_down", + "move_right", + "move_right", + "look_up", + "turn_right", + "look_down", + "move_forward", + "move_forward", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -37790.0, + -2990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37790.0, + -3090.0, + 200.0 + ], + "actual_end_pos": [ + -37790.0, + -3090.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -37790.0, + -3090.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37790.0, + -3190.0, + 200.0 + ], + "actual_end_pos": [ + -37790.0, + -3190.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -37790.0, + -3190.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37790.0, + -3290.0, + 200.0 + ], + "actual_end_pos": [ + -37790.0, + -3290.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -37790.0, + -3290.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37890.0, + -3290.0, + 200.0 + ], + "actual_end_pos": [ + -37890.0, + -3290.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -37890.0, + -3290.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37890.0, + -3390.0, + 200.0 + ], + "actual_end_pos": [ + -37890.0, + -3390.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -37890.0, + -3390.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37890.0, + -3390.0, + 200.0 + ], + "actual_end_pos": [ + -37890.0, + -3390.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -37890.0, + -3390.0, + 200.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37990.0, + -3390.0, + 200.0 + ], + "actual_end_pos": [ + -37990.0, + -3390.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -37990.0, + -3390.0, + 200.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37990.0, + -3290.8555, + 213.0526 + ], + "actual_end_pos": [ + -37990.0, + -3290.8555, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -37990.0, + -3290.8555, + 213.0526 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37990.0, + -3390.0, + 200.0 + ], + "actual_end_pos": [ + -37990.0, + -3390.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -37990.0, + -3390.0, + 200.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37990.0, + -3390.0, + 200.0 + ], + "actual_end_pos": [ + -37990.0, + -3390.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -37990.0, + -3390.0, + 200.0 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -38086.5926, + -3364.1181, + 200.0 + ], + "actual_end_pos": [ + -38086.5926, + -3364.1181, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -38086.5926, + -3364.1181, + 200.0 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -38060.9321, + -3268.3519, + 213.0526 + ], + "actual_end_pos": [ + -38060.9321, + -3268.3519, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -38060.9321, + -3268.3519, + 213.0526 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -37964.3395, + -3294.2338, + 213.0526 + ], + "actual_end_pos": [ + -37964.3395, + -3294.2338, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37964.3395, + -3294.2338, + 213.0526 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -37964.3395, + -3294.2338, + 213.0526 + ], + "actual_end_pos": [ + -37964.3395, + -3294.2338, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -37964.3395, + -3294.2338, + 213.0526 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -37938.679, + -3198.4676, + 226.1052 + ], + "actual_end_pos": [ + -37938.679, + -3198.4676, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -37938.679, + -3198.4676, + 226.1052 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -37938.679, + -3198.4676, + 226.1052 + ], + "actual_end_pos": [ + -37938.679, + -3198.4676, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -37938.679, + -3198.4676, + 226.1052 + ], + "start_rot": [ + 0.0, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -38035.2716, + -3172.5857, + 226.1052 + ], + "actual_end_pos": [ + -38035.2716, + -3172.5857, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -38035.2716, + -3172.5857, + 226.1052 + ], + "start_rot": [ + 0.0, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -38131.8642, + -3146.7037, + 226.1052 + ], + "actual_end_pos": [ + -38131.8642, + -3146.7037, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -38131.8642, + -3146.7037, + 226.1052 + ], + "start_rot": [ + 0.0, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -38131.8642, + -3146.7037, + 226.1052 + ], + "actual_end_pos": [ + -38131.8642, + -3146.7037, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -38131.8642, + -3146.7037, + 226.1052 + ], + "start_rot": [ + 7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -38131.8642, + -3146.7037, + 226.1052 + ], + "actual_end_pos": [ + -38131.8642, + -3146.7037, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -38131.8642, + -3146.7037, + 226.1052 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -38131.8642, + -3146.7037, + 226.1052 + ], + "actual_end_pos": [ + -38131.8642, + -3146.7037, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -38131.8642, + -3146.7037, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -38131.8642, + -3046.7037, + 226.1052 + ], + "actual_end_pos": [ + -38131.8642, + -3046.7037, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -38131.8642, + -3046.7037, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -38131.8642, + -2946.7037, + 226.1052 + ], + "actual_end_pos": [ + -38131.8642, + -2946.7037, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -38131.8642, + -2946.7037, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -38031.8642, + -2946.7037, + 226.1052 + ], + "actual_end_pos": [ + -38031.8642, + -2946.7037, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -38031.8642, + -2946.7037, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37931.8642, + -2946.7038, + 226.1052 + ], + "actual_end_pos": [ + -37931.8642, + -2946.7038, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -37931.8642, + -2946.7038, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_pos": [ + -37831.8642, + -2946.7038, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260407_174321__traj_003131_meta.json b/loop_easy/run_20260407_174321__traj_003131_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..57e4549b20a3524f143c20067290cd50b185feb7 --- /dev/null +++ b/loop_easy/run_20260407_174321__traj_003131_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3131, + "episode_id": 0, + "state_id": 2317, + "sample_index": 2317, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -37790.0, + 4010.0, + 200.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "look_up", + "look_up", + "turn_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "no_op", + "look_down", + "move_forward", + "move_left", + "turn_left", + "move_right", + "move_backward", + "turn_right", + "turn_right", + "move_forward", + "turn_left", + "turn_left", + "move_right", + "look_down", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -37790.0, + 4010.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37790.0, + 4010.0, + 200.0 + ], + "actual_end_pos": [ + -37790.0, + 4010.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -37790.0, + 4010.0, + 200.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37790.0, + 4010.0, + 200.0 + ], + "actual_end_pos": [ + -37790.0, + 4010.0, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -37790.0, + 4010.0, + 200.0 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37790.0, + 4010.0, + 200.0 + ], + "actual_end_pos": [ + -37790.0, + 4010.0, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -37790.0, + 4010.0, + 200.0 + ], + "start_rot": [ + 15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -37840.0, + 4096.6025, + 200.0 + ], + "actual_end_pos": [ + -37840.0, + 4096.6025, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -37840.0, + 4096.6025, + 200.0 + ], + "start_rot": [ + 15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -37890.0, + 4183.2051, + 200.0 + ], + "actual_end_pos": [ + -37890.0, + 4183.2051, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -37890.0, + 4183.2051, + 200.0 + ], + "start_rot": [ + 15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -37890.0, + 4183.2051, + 200.0 + ], + "actual_end_pos": [ + -37890.0, + 4183.2051, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -37890.0, + 4183.2051, + 200.0 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37890.0, + 4183.2051, + 200.0 + ], + "actual_end_pos": [ + -37890.0, + 4183.2051, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37890.0, + 4183.2051, + 200.0 + ], + "start_rot": [ + 15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -37890.0, + 4183.2051, + 200.0 + ], + "actual_end_pos": [ + -37890.0, + 4183.2051, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -37890.0, + 4183.2051, + 200.0 + ], + "start_rot": [ + 15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -37890.0, + 4183.2051, + 200.0 + ], + "actual_end_pos": [ + -37890.0, + 4183.2051, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -37890.0, + 4183.2051, + 200.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -37939.5722, + 4097.3434, + 213.0526 + ], + "actual_end_pos": [ + -37939.5722, + 4097.3434, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -37939.5722, + 4097.3434, + 213.0526 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -38026.1748, + 4147.3434, + 213.0526 + ], + "actual_end_pos": [ + -38026.1748, + 4147.3434, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -38026.1748, + 4147.3434, + 213.0526 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -38026.1748, + 4147.3434, + 213.0526 + ], + "actual_end_pos": [ + -38026.1748, + 4147.3434, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -38026.1748, + 4147.3434, + 213.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37955.4641, + 4076.6328, + 213.0526 + ], + "actual_end_pos": [ + -37955.4641, + 4076.6328, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -37955.4641, + 4076.6328, + 213.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37885.3584, + 4146.7385, + 200.0 + ], + "actual_end_pos": [ + -37885.3584, + 4146.7385, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -37885.3584, + 4146.7385, + 200.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37885.3584, + 4146.7385, + 200.0 + ], + "actual_end_pos": [ + -37885.3584, + 4146.7385, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -37885.3584, + 4146.7385, + 200.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -37885.3584, + 4146.7385, + 200.0 + ], + "actual_end_pos": [ + -37885.3584, + 4146.7385, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -37885.3584, + 4146.7385, + 200.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37911.0188, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37911.0188, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -37911.0188, + 4050.9723, + 213.0526 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37911.0188, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37911.0188, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -37911.0188, + 4050.9723, + 213.0526 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -37911.0188, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37911.0188, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -37911.0188, + 4050.9723, + 213.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37840.3082, + 3980.2616, + 213.0526 + ], + "actual_end_pos": [ + -37840.3082, + 3980.2616, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -37840.3082, + 3980.2616, + 213.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37840.3082, + 3980.2616, + 213.0526 + ], + "actual_end_pos": [ + -37840.3082, + 3980.2616, + 213.0526 + ], + "actual_end_rot": [ + -0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -37840.3082, + 3980.2616, + 213.0526 + ], + "start_rot": [ + -0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + -0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "start_rot": [ + -0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + -0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "start_rot": [ + -0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + -0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "start_rot": [ + -0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + -0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "start_rot": [ + -0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + -0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "start_rot": [ + -0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + -0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "start_rot": [ + -0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + -0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "start_rot": [ + -0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + -0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "start_rot": [ + -0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + -0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "start_rot": [ + -0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + -0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "start_rot": [ + -0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + -0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "start_rot": [ + -0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + -0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "start_rot": [ + -0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + -0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "start_rot": [ + -0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + -0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "start_rot": [ + -0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + -0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "start_rot": [ + -0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + -0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "start_rot": [ + -0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + -0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "start_rot": [ + -0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + -0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "start_rot": [ + -0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_pos": [ + -37769.5975, + 4050.9723, + 213.0526 + ], + "actual_end_rot": [ + -0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260407_174321__traj_003145_meta.json b/loop_easy/run_20260407_174321__traj_003145_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1f4ed1ce148d32663237d706d74ec21f797c66c7 --- /dev/null +++ b/loop_easy/run_20260407_174321__traj_003145_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3145, + "episode_id": 0, + "state_id": 2326, + "sample_index": 2326, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -37790.0, + 5010.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_forward", + "turn_left", + "move_right", + "turn_right", + "no_op", + "look_up", + "move_right", + "move_right", + "move_forward", + "turn_left", + "move_forward", + "move_left", + "move_forward", + "move_right", + "move_right", + "move_right", + "move_right", + "look_up", + "move_left", + "move_left", + "turn_right", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -37790.0, + 5010.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37690.0, + 5010.0, + 200.0 + ], + "actual_end_pos": [ + -37690.0, + 5010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -37690.0, + 5010.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37690.0, + 4910.0, + 200.0 + ], + "actual_end_pos": [ + -37690.0, + 4910.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -37690.0, + 4910.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37690.0, + 4910.0, + 200.0 + ], + "actual_end_pos": [ + -37690.0, + 4910.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -37690.0, + 4910.0, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37593.4074, + 4884.1181, + 200.0 + ], + "actual_end_pos": [ + -37593.4074, + 4884.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -37593.4074, + 4884.1181, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37593.4074, + 4884.1181, + 200.0 + ], + "actual_end_pos": [ + -37593.4074, + 4884.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37593.4074, + 4884.1181, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37593.4074, + 4884.1181, + 200.0 + ], + "actual_end_pos": [ + -37593.4074, + 4884.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -37593.4074, + 4884.1181, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37593.4074, + 4884.1181, + 200.0 + ], + "actual_end_pos": [ + -37593.4074, + 4884.1181, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -37593.4074, + 4884.1181, + 200.0 + ], + "start_rot": [ + 7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + -37493.4074, + 4884.1181, + 200.0 + ], + "actual_end_pos": [ + -37493.4074, + 4884.1181, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -37493.4074, + 4884.1181, + 200.0 + ], + "start_rot": [ + 7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + -37393.4074, + 4884.1181, + 200.0 + ], + "actual_end_pos": [ + -37393.4074, + 4884.1181, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -37393.4074, + 4884.1181, + 200.0 + ], + "start_rot": [ + 7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + -37393.4074, + 4784.9736, + 213.0526 + ], + "actual_end_pos": [ + -37393.4074, + 4784.9736, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -37393.4074, + 4784.9736, + 213.0526 + ], + "start_rot": [ + 7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + -37393.4074, + 4784.9736, + 213.0526 + ], + "actual_end_pos": [ + -37393.4074, + 4784.9736, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -37393.4074, + 4784.9736, + 213.0526 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37419.0679, + 4689.2074, + 226.1052 + ], + "actual_end_pos": [ + -37419.0679, + 4689.2074, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -37419.0679, + 4689.2074, + 226.1052 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37515.6605, + 4715.0893, + 226.1052 + ], + "actual_end_pos": [ + -37515.6605, + 4715.0893, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -37515.6605, + 4715.0893, + 226.1052 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37541.321, + 4619.3231, + 239.1579 + ], + "actual_end_pos": [ + -37541.321, + 4619.3231, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -37541.321, + 4619.3231, + 239.1579 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37444.7284, + 4593.4412, + 239.1579 + ], + "actual_end_pos": [ + -37444.7284, + 4593.4412, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -37444.7284, + 4593.4412, + 239.1579 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37348.1358, + 4567.5593, + 239.1579 + ], + "actual_end_pos": [ + -37348.1358, + 4567.5593, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -37348.1358, + 4567.5593, + 239.1579 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37251.5432, + 4541.6774, + 239.1579 + ], + "actual_end_pos": [ + -37251.5432, + 4541.6774, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -37251.5432, + 4541.6774, + 239.1579 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37154.9506, + 4515.7955, + 239.1579 + ], + "actual_end_pos": [ + -37154.9506, + 4515.7955, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -37154.9506, + 4515.7955, + 239.1579 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37154.9506, + 4515.7955, + 239.1579 + ], + "actual_end_pos": [ + -37154.9506, + 4515.7955, + 239.1579 + ], + "actual_end_rot": [ + 15.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -37154.9506, + 4515.7955, + 239.1579 + ], + "start_rot": [ + 15.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -37251.5432, + 4541.6774, + 239.1579 + ], + "actual_end_pos": [ + -37251.5432, + 4541.6774, + 239.1579 + ], + "actual_end_rot": [ + 15.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -37251.5432, + 4541.6774, + 239.1579 + ], + "start_rot": [ + 15.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -37348.1358, + 4567.5593, + 239.1579 + ], + "actual_end_pos": [ + -37348.1358, + 4567.5593, + 239.1579 + ], + "actual_end_rot": [ + 15.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -37348.1358, + 4567.5593, + 239.1579 + ], + "start_rot": [ + 15.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -37348.1358, + 4567.5593, + 239.1579 + ], + "actual_end_pos": [ + -37348.1358, + 4567.5593, + 239.1579 + ], + "actual_end_rot": [ + 15.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -37348.1358, + 4567.5593, + 239.1579 + ], + "start_rot": [ + 15.0, + -90.0, + -0.0 + ], + "expected_end_pos": [ + -37348.1358, + 4567.5593, + 239.1579 + ], + "actual_end_pos": [ + -37348.1358, + 4567.5593, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -37348.1358, + 4567.5593, + 239.1579 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37348.1358, + 4666.7038, + 226.1052 + ], + "actual_end_pos": [ + -37348.1358, + 4666.7038, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -37348.1358, + 4666.7038, + 226.1052 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37348.1358, + 4765.8482, + 213.0526 + ], + "actual_end_pos": [ + -37348.1358, + 4765.8482, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -37348.1358, + 4765.8482, + 213.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37348.1358, + 4864.9927, + 200.0 + ], + "actual_end_pos": [ + -37348.1358, + 4864.9927, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -37348.1358, + 4864.9927, + 200.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37348.1358, + 4964.1372, + 186.9474 + ], + "actual_end_pos": [ + -37348.1358, + 4964.1372, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -37348.1358, + 4964.1372, + 186.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37448.1358, + 4964.1372, + 186.9474 + ], + "actual_end_pos": [ + -37448.1358, + 4964.1372, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -37448.1358, + 4964.1372, + 186.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37548.1358, + 4964.1372, + 186.9474 + ], + "actual_end_pos": [ + -37548.1358, + 4964.1372, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -37548.1358, + 4964.1372, + 186.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37648.1358, + 4964.1372, + 186.9474 + ], + "actual_end_pos": [ + -37648.1358, + 4964.1372, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -37648.1358, + 4964.1372, + 186.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "actual_end_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "actual_end_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "actual_end_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "actual_end_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "actual_end_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "actual_end_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "actual_end_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "actual_end_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "actual_end_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "actual_end_pos": [ + -37748.1358, + 4964.1372, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_000744__traj_000033_meta.json b/loop_easy/run_20260408_000744__traj_000033_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0f74fe504e16c8ec0dac3e99ee7000178e075458 --- /dev/null +++ b/loop_easy/run_20260408_000744__traj_000033_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 33, + "episode_id": 0, + "state_id": 24, + "sample_index": 24, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -500.0, + -3760.0, + 400.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_left", + "look_down", + "look_up", + "turn_right", + "move_left", + "move_left", + "turn_left", + "move_right", + "turn_right", + "move_left", + "move_left", + "turn_left", + "move_right", + "move_forward", + "move_forward", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_right", + "no_op", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -500.0, + -3760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -600.0, + -3760.0, + 400.0 + ], + "actual_end_pos": [ + -600.0, + -3760.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -600.0, + -3760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -600.0, + -3860.0, + 400.0 + ], + "actual_end_pos": [ + -600.0, + -3860.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -600.0, + -3860.0, + 400.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -600.0, + -3860.0, + 400.0 + ], + "actual_end_pos": [ + -600.0, + -3860.0, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -600.0, + -3860.0, + 400.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -600.0, + -3860.0, + 400.0 + ], + "actual_end_pos": [ + -600.0, + -3860.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -600.0, + -3860.0, + 400.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -600.0, + -3860.0, + 400.0 + ], + "actual_end_pos": [ + -600.0, + -3860.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -600.0, + -3860.0, + 400.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -574.1181, + -3956.5926, + 400.0 + ], + "actual_end_pos": [ + -574.1181, + -3956.5926, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -574.1181, + -3956.5926, + 400.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -548.2362, + -4053.1852, + 400.0 + ], + "actual_end_pos": [ + -548.2362, + -4053.1852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -548.2362, + -4053.1852, + 400.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -548.2362, + -4053.1852, + 400.0 + ], + "actual_end_pos": [ + -548.2362, + -4053.1852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -548.2362, + -4053.1852, + 400.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -548.2362, + -3953.1852, + 400.0 + ], + "actual_end_pos": [ + -548.2362, + -3953.1852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -548.2362, + -3953.1852, + 400.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -548.2362, + -3953.1852, + 400.0 + ], + "actual_end_pos": [ + -548.2362, + -3953.1852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -548.2362, + -3953.1852, + 400.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -522.3543, + -4049.7777, + 400.0 + ], + "actual_end_pos": [ + -522.3543, + -4049.7777, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -522.3543, + -4049.7777, + 400.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -496.4724, + -4146.3703, + 400.0 + ], + "actual_end_pos": [ + -496.4724, + -4146.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -496.4724, + -4146.3703, + 400.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -496.4724, + -4146.3703, + 400.0 + ], + "actual_end_pos": [ + -496.4724, + -4146.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -496.4724, + -4146.3703, + 400.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -496.4724, + -4046.3703, + 400.0 + ], + "actual_end_pos": [ + -496.4724, + -4046.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -496.4724, + -4046.3703, + 400.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -396.4724, + -4046.3703, + 400.0 + ], + "actual_end_pos": [ + -396.4724, + -4046.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -396.4724, + -4046.3703, + 400.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -296.4724, + -4046.3703, + 400.0 + ], + "actual_end_pos": [ + -296.4724, + -4046.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -296.4724, + -4046.3703, + 400.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -296.4724, + -3946.3703, + 400.0 + ], + "actual_end_pos": [ + -296.4724, + -3946.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -296.4724, + -3946.3703, + 400.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -296.4724, + -3846.3703, + 400.0 + ], + "actual_end_pos": [ + -296.4724, + -3846.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -296.4724, + -3846.3703, + 400.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -296.4724, + -3846.3703, + 400.0 + ], + "actual_end_pos": [ + -296.4724, + -3846.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -296.4724, + -3846.3703, + 400.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -296.4724, + -3846.3703, + 400.0 + ], + "actual_end_pos": [ + -296.4724, + -3846.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -296.4724, + -3846.3703, + 400.0 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -296.4724, + -3846.3703, + 400.0 + ], + "actual_end_pos": [ + -296.4724, + -3846.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -296.4724, + -3846.3703, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -367.1831, + -3917.081, + 400.0 + ], + "actual_end_pos": [ + -367.1831, + -3917.081, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -367.1831, + -3917.081, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -437.8937, + -3846.3703, + 400.0 + ], + "actual_end_pos": [ + -437.8937, + -3846.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -437.8937, + -3846.3703, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -437.8937, + -3846.3703, + 400.0 + ], + "actual_end_pos": [ + -437.8937, + -3846.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -437.8937, + -3846.3703, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -437.8937, + -3846.3703, + 400.0 + ], + "actual_end_pos": [ + -437.8937, + -3846.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -437.8937, + -3846.3703, + 400.0 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -437.8937, + -3846.3703, + 400.0 + ], + "actual_end_pos": [ + -437.8937, + -3846.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -437.8937, + -3846.3703, + 400.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -437.8937, + -3846.3703, + 400.0 + ], + "actual_end_pos": [ + -437.8937, + -3846.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -437.8937, + -3846.3703, + 400.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -537.8937, + -3846.3703, + 400.0 + ], + "actual_end_pos": [ + -537.8937, + -3846.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -537.8937, + -3846.3703, + 400.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_pos": [ + -537.8937, + -3746.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_000744__traj_000393_meta.json b/loop_easy/run_20260408_000744__traj_000393_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec8771ff928792c87a752ec4720e5e1c4571c216 --- /dev/null +++ b/loop_easy/run_20260408_000744__traj_000393_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 393, + "episode_id": 0, + "state_id": 288, + "sample_index": 288, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 700.0, + -6760.0, + 400.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "turn_right", + "move_forward", + "no_op", + "move_forward", + "look_down", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "move_forward", + "no_op", + "move_forward", + "turn_left", + "move_backward", + "move_right", + "turn_left", + "look_up", + "look_up", + "move_backward", + "turn_left", + "no_op", + "turn_left", + "turn_right", + "turn_right", + "turn_right", + "look_down", + "move_forward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 700.0, + -6760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 600.0, + -6760.0, + 400.0 + ], + "actual_end_pos": [ + 600.0, + -6760.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 600.0, + -6760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 600.0, + -6760.0, + 400.0 + ], + "actual_end_pos": [ + 600.0, + -6760.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 600.0, + -6760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 696.5926, + -6734.1181, + 400.0 + ], + "actual_end_pos": [ + 696.5926, + -6734.1181, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 696.5926, + -6734.1181, + 400.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 696.5926, + -6734.1181, + 400.0 + ], + "actual_end_pos": [ + 696.5926, + -6734.1181, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 696.5926, + -6734.1181, + 400.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 793.1852, + -6708.2362, + 400.0 + ], + "actual_end_pos": [ + 793.1852, + -6708.2362, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 793.1852, + -6708.2362, + 400.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 793.1852, + -6708.2362, + 400.0 + ], + "actual_end_pos": [ + 793.1852, + -6708.2362, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 793.1852, + -6708.2362, + 400.0 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 697.4189, + -6733.8967, + 413.0526 + ], + "actual_end_pos": [ + 697.4189, + -6733.8967, + 413.0526 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 697.4189, + -6733.8967, + 413.0526 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 671.537, + -6637.3041, + 413.0526 + ], + "actual_end_pos": [ + 671.537, + -6637.3041, + 413.0526 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 671.537, + -6637.3041, + 413.0526 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 645.6551, + -6540.7115, + 413.0526 + ], + "actual_end_pos": [ + 645.6551, + -6540.7115, + 413.0526 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 645.6551, + -6540.7115, + 413.0526 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 619.7732, + -6444.1189, + 413.0526 + ], + "actual_end_pos": [ + 619.7732, + -6444.1189, + 413.0526 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 619.7732, + -6444.1189, + 413.0526 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 593.8913, + -6347.5263, + 413.0526 + ], + "actual_end_pos": [ + 593.8913, + -6347.5263, + 413.0526 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 593.8913, + -6347.5263, + 413.0526 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 593.8913, + -6347.5263, + 413.0526 + ], + "actual_end_pos": [ + 593.8913, + -6347.5263, + 413.0526 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 593.8913, + -6347.5263, + 413.0526 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 689.6575, + -6321.8659, + 400.0 + ], + "actual_end_pos": [ + 689.6575, + -6321.8659, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 689.6575, + -6321.8659, + 400.0 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 689.6575, + -6321.8659, + 400.0 + ], + "actual_end_pos": [ + 689.6575, + -6321.8659, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 689.6575, + -6321.8659, + 400.0 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 785.4238, + -6296.2054, + 386.9474 + ], + "actual_end_pos": [ + 785.4238, + -6296.2054, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 785.4238, + -6296.2054, + 386.9474 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 785.4238, + -6296.2054, + 386.9474 + ], + "actual_end_pos": [ + 785.4238, + -6296.2054, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 785.4238, + -6296.2054, + 386.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 686.2793, + -6296.2054, + 400.0 + ], + "actual_end_pos": [ + 686.2793, + -6296.2054, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 686.2793, + -6296.2054, + 400.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 686.2793, + -6196.2054, + 400.0 + ], + "actual_end_pos": [ + 686.2793, + -6196.2054, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 686.2793, + -6196.2054, + 400.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 686.2793, + -6196.2054, + 400.0 + ], + "actual_end_pos": [ + 686.2793, + -6196.2054, + 400.0 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 686.2793, + -6196.2054, + 400.0 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 686.2793, + -6196.2054, + 400.0 + ], + "actual_end_pos": [ + 686.2793, + -6196.2054, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 686.2793, + -6196.2054, + 400.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 686.2793, + -6196.2054, + 400.0 + ], + "actual_end_pos": [ + 686.2793, + -6196.2054, + 400.0 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 686.2793, + -6196.2054, + 400.0 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "actual_end_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "actual_end_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "actual_end_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "actual_end_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "actual_end_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "actual_end_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "actual_end_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "actual_end_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 590.5131, + -6170.5449, + 386.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 690.5131, + -6170.5449, + 386.9474 + ], + "actual_end_pos": [ + 690.5131, + -6170.5449, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 690.5131, + -6170.5449, + 386.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 690.5131, + -6270.5449, + 386.9474 + ], + "actual_end_pos": [ + 690.5131, + -6270.5449, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 690.5131, + -6270.5449, + 386.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 690.5131, + -6370.5449, + 386.9474 + ], + "actual_end_pos": [ + 690.5131, + -6370.5449, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 690.5131, + -6370.5449, + 386.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 690.5131, + -6470.5449, + 386.9474 + ], + "actual_end_pos": [ + 690.5131, + -6470.5449, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 690.5131, + -6470.5449, + 386.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 690.5131, + -6570.5449, + 386.9474 + ], + "actual_end_pos": [ + 690.5131, + -6570.5449, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 690.5131, + -6570.5449, + 386.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 690.5131, + -6670.5449, + 386.9474 + ], + "actual_end_pos": [ + 690.5131, + -6670.5449, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 690.5131, + -6670.5449, + 386.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 690.5131, + -6770.5449, + 386.9474 + ], + "actual_end_pos": [ + 690.5131, + -6770.5449, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 690.5131, + -6770.5449, + 386.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 690.5131, + -6770.5449, + 386.9474 + ], + "actual_end_pos": [ + 690.5131, + -6770.5449, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 690.5131, + -6770.5449, + 386.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 690.5131, + -6770.5449, + 386.9474 + ], + "actual_end_pos": [ + 690.5131, + -6770.5449, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 690.5131, + -6770.5449, + 386.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 690.5131, + -6770.5449, + 386.9474 + ], + "actual_end_pos": [ + 690.5131, + -6770.5449, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 690.5131, + -6770.5449, + 386.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 690.5131, + -6770.5449, + 386.9474 + ], + "actual_end_pos": [ + 690.5131, + -6770.5449, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_000744__traj_000406_meta.json b/loop_easy/run_20260408_000744__traj_000406_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2fb392e647ac6964047d0a206611e305d0cca7ed --- /dev/null +++ b/loop_easy/run_20260408_000744__traj_000406_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 406, + "episode_id": 0, + "state_id": 299, + "sample_index": 299, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 700.0, + -6460.0, + 400.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_forward", + "move_forward", + "look_down", + "move_forward", + "move_forward", + "turn_left", + "move_forward", + "move_forward", + "move_right", + "move_forward", + "turn_left", + "move_left", + "turn_right", + "move_forward", + "move_right", + "look_up", + "move_forward", + "look_down", + "move_left", + "move_left", + "move_forward", + "turn_right", + "look_up", + "move_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 700.0, + -6460.0, + 400.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 629.2893, + -6530.7107, + 400.0 + ], + "actual_end_pos": [ + 629.2893, + -6530.7107, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 629.2893, + -6530.7107, + 400.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 558.5786, + -6601.4214, + 400.0 + ], + "actual_end_pos": [ + 558.5786, + -6601.4214, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 558.5786, + -6601.4214, + 400.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 487.868, + -6530.7107, + 400.0 + ], + "actual_end_pos": [ + 487.868, + -6530.7107, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 487.868, + -6530.7107, + 400.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 417.1573, + -6460.0, + 400.0 + ], + "actual_end_pos": [ + 417.1573, + -6460.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 417.1573, + -6460.0, + 400.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 417.1573, + -6460.0, + 400.0 + ], + "actual_end_pos": [ + 417.1573, + -6460.0, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 417.1573, + -6460.0, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 347.0516, + -6389.8943, + 386.9474 + ], + "actual_end_pos": [ + 347.0516, + -6389.8943, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 347.0516, + -6389.8943, + 386.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 276.9458, + -6319.7885, + 373.8948 + ], + "actual_end_pos": [ + 276.9458, + -6319.7885, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 276.9458, + -6319.7885, + 373.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 276.9458, + -6319.7885, + 373.8948 + ], + "actual_end_pos": [ + 276.9458, + -6319.7885, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 276.9458, + -6319.7885, + 373.8948 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 227.3736, + -6233.9269, + 360.8421 + ], + "actual_end_pos": [ + 227.3736, + -6233.9269, + 360.8421 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 227.3736, + -6233.9269, + 360.8421 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 177.8013, + -6148.0652, + 347.7895 + ], + "actual_end_pos": [ + 177.8013, + -6148.0652, + 347.7895 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 177.8013, + -6148.0652, + 347.7895 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 91.1988, + -6198.0652, + 347.7895 + ], + "actual_end_pos": [ + 91.1988, + -6198.0652, + 347.7895 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 91.1988, + -6198.0652, + 347.7895 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 41.6265, + -6112.2036, + 334.7369 + ], + "actual_end_pos": [ + 41.6265, + -6112.2036, + 334.7369 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 41.6265, + -6112.2036, + 334.7369 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 41.6265, + -6112.2036, + 334.7369 + ], + "actual_end_pos": [ + 41.6265, + -6112.2036, + 334.7369 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 41.6265, + -6112.2036, + 334.7369 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 138.2191, + -6086.3217, + 334.7369 + ], + "actual_end_pos": [ + 138.2191, + -6086.3217, + 334.7369 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 138.2191, + -6086.3217, + 334.7369 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 138.2191, + -6086.3217, + 334.7369 + ], + "actual_end_pos": [ + 138.2191, + -6086.3217, + 334.7369 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 138.2191, + -6086.3217, + 334.7369 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 88.6469, + -6000.46, + 321.6843 + ], + "actual_end_pos": [ + 88.6469, + -6000.46, + 321.6843 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 88.6469, + -6000.46, + 321.6843 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2.0443, + -6050.46, + 321.6843 + ], + "actual_end_pos": [ + 2.0443, + -6050.46, + 321.6843 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2.0443, + -6050.46, + 321.6843 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2.0443, + -6050.46, + 321.6843 + ], + "actual_end_pos": [ + 2.0443, + -6050.46, + 321.6843 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2.0443, + -6050.46, + 321.6843 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -47.9557, + -5963.8575, + 321.6843 + ], + "actual_end_pos": [ + -47.9557, + -5963.8575, + 321.6843 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -47.9557, + -5963.8575, + 321.6843 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -47.9557, + -5963.8575, + 321.6843 + ], + "actual_end_pos": [ + -47.9557, + -5963.8575, + 321.6843 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -47.9557, + -5963.8575, + 321.6843 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 38.6469, + -5913.8575, + 321.6843 + ], + "actual_end_pos": [ + 38.6469, + -5913.8575, + 321.6843 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 38.6469, + -5913.8575, + 321.6843 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 125.2494, + -5863.8575, + 321.6843 + ], + "actual_end_pos": [ + 125.2494, + -5863.8575, + 321.6843 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 125.2494, + -5863.8575, + 321.6843 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 75.6772, + -5777.9958, + 308.6317 + ], + "actual_end_pos": [ + 75.6772, + -5777.9958, + 308.6317 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 75.6772, + -5777.9958, + 308.6317 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 75.6772, + -5777.9958, + 308.6317 + ], + "actual_end_pos": [ + 75.6772, + -5777.9958, + 308.6317 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 75.6772, + -5777.9958, + 308.6317 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 75.6772, + -5777.9958, + 308.6317 + ], + "actual_end_pos": [ + 75.6772, + -5777.9958, + 308.6317 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 75.6772, + -5777.9958, + 308.6317 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 146.3879, + -5707.2852, + 308.6317 + ], + "actual_end_pos": [ + 146.3879, + -5707.2852, + 308.6317 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 146.3879, + -5707.2852, + 308.6317 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 217.0985, + -5777.9959, + 308.6317 + ], + "actual_end_pos": [ + 217.0985, + -5777.9959, + 308.6317 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 217.0985, + -5777.9959, + 308.6317 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 287.8092, + -5848.7065, + 308.6317 + ], + "actual_end_pos": [ + 287.8092, + -5848.7065, + 308.6317 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 287.8092, + -5848.7065, + 308.6317 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 358.5199, + -5919.4172, + 308.6317 + ], + "actual_end_pos": [ + 358.5199, + -5919.4172, + 308.6317 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 358.5199, + -5919.4172, + 308.6317 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 429.2306, + -5990.1279, + 308.6317 + ], + "actual_end_pos": [ + 429.2306, + -5990.1279, + 308.6317 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 429.2306, + -5990.1279, + 308.6317 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 499.9413, + -6060.8386, + 308.6317 + ], + "actual_end_pos": [ + 499.9413, + -6060.8386, + 308.6317 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 499.9413, + -6060.8386, + 308.6317 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 570.6519, + -6131.5492, + 308.6317 + ], + "actual_end_pos": [ + 570.6519, + -6131.5492, + 308.6317 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 570.6519, + -6131.5492, + 308.6317 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 641.3626, + -6202.2599, + 308.6317 + ], + "actual_end_pos": [ + 641.3626, + -6202.2599, + 308.6317 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 641.3626, + -6202.2599, + 308.6317 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 712.0733, + -6272.9706, + 308.6317 + ], + "actual_end_pos": [ + 712.0733, + -6272.9706, + 308.6317 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 712.0733, + -6272.9706, + 308.6317 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 782.784, + -6343.6813, + 308.6317 + ], + "actual_end_pos": [ + 782.784, + -6343.6813, + 308.6317 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 782.784, + -6343.6813, + 308.6317 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 712.0733, + -6414.392, + 308.6317 + ], + "actual_end_pos": [ + 712.0733, + -6414.392, + 308.6317 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 712.0733, + -6414.392, + 308.6317 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 712.0733, + -6414.392, + 308.6317 + ], + "actual_end_pos": [ + 712.0733, + -6414.392, + 308.6317 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 712.0733, + -6414.392, + 308.6317 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 712.0733, + -6414.392, + 308.6317 + ], + "actual_end_pos": [ + 712.0733, + -6414.392, + 308.6317 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 712.0733, + -6414.392, + 308.6317 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 712.0733, + -6414.392, + 308.6317 + ], + "actual_end_pos": [ + 712.0733, + -6414.392, + 308.6317 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 712.0733, + -6414.392, + 308.6317 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 712.0733, + -6414.392, + 308.6317 + ], + "actual_end_pos": [ + 712.0733, + -6414.392, + 308.6317 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_000744__traj_000413_meta.json b/loop_easy/run_20260408_000744__traj_000413_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c17ca277c509b1f7c2b0a623f75a78c0472a9eb5 --- /dev/null +++ b/loop_easy/run_20260408_000744__traj_000413_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 413, + "episode_id": 0, + "state_id": 304, + "sample_index": 304, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 700.0, + -6160.0, + 400.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "turn_right", + "move_backward", + "turn_left", + "look_down", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "move_forward", + "turn_right", + "move_forward", + "move_left", + "turn_left", + "move_left", + "move_forward", + "look_down", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 700.0, + -6160.0, + 400.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 700.0, + -6260.0, + 400.0 + ], + "actual_end_pos": [ + 700.0, + -6260.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 700.0, + -6260.0, + 400.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 700.0, + -6260.0, + 400.0 + ], + "actual_end_pos": [ + 700.0, + -6260.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 700.0, + -6260.0, + 400.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 603.4074, + -6285.8819, + 400.0 + ], + "actual_end_pos": [ + 603.4074, + -6285.8819, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 603.4074, + -6285.8819, + 400.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 603.4074, + -6285.8819, + 400.0 + ], + "actual_end_pos": [ + 603.4074, + -6285.8819, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 603.4074, + -6285.8819, + 400.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 603.4074, + -6285.8819, + 400.0 + ], + "actual_end_pos": [ + 603.4074, + -6285.8819, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 603.4074, + -6285.8819, + 400.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 603.4074, + -6385.8819, + 400.0 + ], + "actual_end_pos": [ + 603.4074, + -6385.8819, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 603.4074, + -6385.8819, + 400.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 702.5519, + -6385.8819, + 386.9474 + ], + "actual_end_pos": [ + 702.5519, + -6385.8819, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 702.5519, + -6385.8819, + 386.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 801.6964, + -6385.8819, + 373.8948 + ], + "actual_end_pos": [ + 801.6964, + -6385.8819, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 801.6964, + -6385.8819, + 373.8948 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 900.8409, + -6385.8819, + 360.8421 + ], + "actual_end_pos": [ + 900.8409, + -6385.8819, + 360.8421 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 900.8409, + -6385.8819, + 360.8421 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 900.8409, + -6285.8819, + 360.8421 + ], + "actual_end_pos": [ + 900.8409, + -6285.8819, + 360.8421 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 900.8409, + -6285.8819, + 360.8421 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 999.9854, + -6285.8819, + 347.7895 + ], + "actual_end_pos": [ + 999.9854, + -6285.8819, + 347.7895 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 999.9854, + -6285.8819, + 347.7895 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 999.9854, + -6285.8819, + 347.7895 + ], + "actual_end_pos": [ + 999.9854, + -6285.8819, + 347.7895 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 999.9854, + -6285.8819, + 347.7895 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1095.7516, + -6260.2214, + 334.7369 + ], + "actual_end_pos": [ + 1095.7516, + -6260.2214, + 334.7369 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1095.7516, + -6260.2214, + 334.7369 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1121.6335, + -6356.814, + 334.7369 + ], + "actual_end_pos": [ + 1121.6335, + -6356.814, + 334.7369 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1121.6335, + -6356.814, + 334.7369 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1121.6335, + -6356.814, + 334.7369 + ], + "actual_end_pos": [ + 1121.6335, + -6356.814, + 334.7369 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1121.6335, + -6356.814, + 334.7369 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1121.6335, + -6456.814, + 334.7369 + ], + "actual_end_pos": [ + 1121.6335, + -6456.814, + 334.7369 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1121.6335, + -6456.814, + 334.7369 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1220.778, + -6456.814, + 321.6843 + ], + "actual_end_pos": [ + 1220.778, + -6456.814, + 321.6843 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1220.778, + -6456.814, + 321.6843 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1220.778, + -6456.814, + 321.6843 + ], + "actual_end_pos": [ + 1220.778, + -6456.814, + 321.6843 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1220.778, + -6456.814, + 321.6843 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1220.778, + -6456.814, + 321.6843 + ], + "actual_end_pos": [ + 1220.778, + -6456.814, + 321.6843 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1220.778, + -6456.814, + 321.6843 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1121.6335, + -6456.814, + 334.7369 + ], + "actual_end_pos": [ + 1121.6335, + -6456.814, + 334.7369 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1121.6335, + -6456.814, + 334.7369 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1022.489, + -6456.814, + 347.7895 + ], + "actual_end_pos": [ + 1022.489, + -6456.814, + 347.7895 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1022.489, + -6456.814, + 347.7895 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 923.3445, + -6456.814, + 360.8421 + ], + "actual_end_pos": [ + 923.3445, + -6456.814, + 360.8421 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 923.3445, + -6456.814, + 360.8421 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 824.2, + -6456.814, + 373.8948 + ], + "actual_end_pos": [ + 824.2, + -6456.814, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 824.2, + -6456.814, + 373.8948 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 725.0555, + -6456.814, + 386.9474 + ], + "actual_end_pos": [ + 725.0555, + -6456.814, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 725.0555, + -6456.814, + 386.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 725.0555, + -6356.814, + 386.9474 + ], + "actual_end_pos": [ + 725.0555, + -6356.814, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 725.0555, + -6356.814, + 386.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 725.0555, + -6256.814, + 386.9474 + ], + "actual_end_pos": [ + 725.0555, + -6256.814, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 725.0555, + -6256.814, + 386.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_pos": [ + 725.0555, + -6156.814, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_000744__traj_000562_meta.json b/loop_easy/run_20260408_000744__traj_000562_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a540e13dd1c8c12ed0f2d25c4b7c18f33b88cb51 --- /dev/null +++ b/loop_easy/run_20260408_000744__traj_000562_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 562, + "episode_id": 0, + "state_id": 413, + "sample_index": 413, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1000.0, + -4360.0, + 400.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_right", + "turn_left", + "look_down", + "turn_left", + "move_left", + "turn_left", + "move_backward", + "look_up", + "turn_left", + "move_backward", + "move_left", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "move_left", + "move_right", + "move_forward", + "turn_right", + "move_left", + "move_backward", + "move_right", + "turn_right", + "move_forward", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1000.0, + -4360.0, + 400.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1000.0, + -4360.0, + 400.0 + ], + "actual_end_pos": [ + 1000.0, + -4360.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1000.0, + -4360.0, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1050.0, + -4446.6025, + 400.0 + ], + "actual_end_pos": [ + 1050.0, + -4446.6025, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1050.0, + -4446.6025, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1050.0, + -4446.6025, + 400.0 + ], + "actual_end_pos": [ + 1050.0, + -4446.6025, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1050.0, + -4446.6025, + 400.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1050.0, + -4446.6025, + 400.0 + ], + "actual_end_pos": [ + 1050.0, + -4446.6025, + 400.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1050.0, + -4446.6025, + 400.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1050.0, + -4446.6025, + 400.0 + ], + "actual_end_pos": [ + 1050.0, + -4446.6025, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1050.0, + -4446.6025, + 400.0 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1050.0, + -4346.6025, + 400.0 + ], + "actual_end_pos": [ + 1050.0, + -4346.6025, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1050.0, + -4346.6025, + 400.0 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1050.0, + -4346.6025, + 400.0 + ], + "actual_end_pos": [ + 1050.0, + -4346.6025, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1050.0, + -4346.6025, + 400.0 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 1145.7662, + -4372.263, + 413.0526 + ], + "actual_end_pos": [ + 1145.7662, + -4372.263, + 413.0526 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1145.7662, + -4372.263, + 413.0526 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 1145.7662, + -4372.263, + 413.0526 + ], + "actual_end_pos": [ + 1145.7662, + -4372.263, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1145.7662, + -4372.263, + 413.0526 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 1145.7662, + -4372.263, + 413.0526 + ], + "actual_end_pos": [ + 1145.7662, + -4372.263, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1145.7662, + -4372.263, + 413.0526 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1232.3688, + -4422.263, + 413.0526 + ], + "actual_end_pos": [ + 1232.3688, + -4422.263, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1232.3688, + -4422.263, + 413.0526 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1282.3688, + -4335.6605, + 413.0526 + ], + "actual_end_pos": [ + 1282.3688, + -4335.6605, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1282.3688, + -4335.6605, + 413.0526 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1282.3688, + -4335.6605, + 413.0526 + ], + "actual_end_pos": [ + 1282.3688, + -4335.6605, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1282.3688, + -4335.6605, + 413.0526 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 1185.7762, + -4309.7786, + 413.0526 + ], + "actual_end_pos": [ + 1185.7762, + -4309.7786, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1185.7762, + -4309.7786, + 413.0526 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 1089.1836, + -4283.8967, + 413.0526 + ], + "actual_end_pos": [ + 1089.1836, + -4283.8967, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1089.1836, + -4283.8967, + 413.0526 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 1089.1836, + -4283.8967, + 413.0526 + ], + "actual_end_pos": [ + 1089.1836, + -4283.8967, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1089.1836, + -4283.8967, + 413.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1089.1836, + -4183.8967, + 413.0526 + ], + "actual_end_pos": [ + 1089.1836, + -4183.8967, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1089.1836, + -4183.8967, + 413.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1089.1836, + -4283.8967, + 413.0526 + ], + "actual_end_pos": [ + 1089.1836, + -4283.8967, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1089.1836, + -4283.8967, + 413.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 989.1836, + -4283.8967, + 413.0526 + ], + "actual_end_pos": [ + 989.1836, + -4283.8967, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 989.1836, + -4283.8967, + 413.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 989.1836, + -4283.8967, + 413.0526 + ], + "actual_end_pos": [ + 989.1836, + -4283.8967, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 989.1836, + -4283.8967, + 413.0526 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 963.3017, + -4187.3041, + 413.0526 + ], + "actual_end_pos": [ + 963.3017, + -4187.3041, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 963.3017, + -4187.3041, + 413.0526 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1059.8943, + -4161.4222, + 413.0526 + ], + "actual_end_pos": [ + 1059.8943, + -4161.4222, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1059.8943, + -4161.4222, + 413.0526 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1085.7762, + -4258.0148, + 413.0526 + ], + "actual_end_pos": [ + 1085.7762, + -4258.0148, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1085.7762, + -4258.0148, + 413.0526 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1085.7762, + -4258.0148, + 413.0526 + ], + "actual_end_pos": [ + 1085.7762, + -4258.0148, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1085.7762, + -4258.0148, + 413.0526 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_pos": [ + 999.1736, + -4308.0148, + 413.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_000744__traj_000621_meta.json b/loop_easy/run_20260408_000744__traj_000621_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c4f8d50dd0196b980fff5426c6254fe100df54fa --- /dev/null +++ b/loop_easy/run_20260408_000744__traj_000621_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 621, + "episode_id": 0, + "state_id": 457, + "sample_index": 457, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1300.0, + -4960.0, + 400.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "look_up", + "turn_left", + "look_down", + "move_right", + "move_forward", + "move_right", + "move_right", + "turn_left", + "move_right", + "move_forward", + "move_left", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1300.0, + -4960.0, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1229.2893, + -5030.7107, + 400.0 + ], + "actual_end_pos": [ + 1229.2893, + -5030.7107, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1229.2893, + -5030.7107, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1158.5786, + -5101.4214, + 400.0 + ], + "actual_end_pos": [ + 1158.5786, + -5101.4214, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1158.5786, + -5101.4214, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1158.5786, + -5101.4214, + 400.0 + ], + "actual_end_pos": [ + 1158.5786, + -5101.4214, + 400.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1158.5786, + -5101.4214, + 400.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1158.5786, + -5101.4214, + 400.0 + ], + "actual_end_pos": [ + 1158.5786, + -5101.4214, + 400.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1158.5786, + -5101.4214, + 400.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1158.5786, + -5101.4214, + 400.0 + ], + "actual_end_pos": [ + 1158.5786, + -5101.4214, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1158.5786, + -5101.4214, + 400.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1108.5786, + -5014.8188, + 400.0 + ], + "actual_end_pos": [ + 1108.5786, + -5014.8188, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1108.5786, + -5014.8188, + 400.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1195.1812, + -4964.8188, + 400.0 + ], + "actual_end_pos": [ + 1195.1812, + -4964.8188, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1195.1812, + -4964.8188, + 400.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1145.1812, + -4878.2163, + 400.0 + ], + "actual_end_pos": [ + 1145.1812, + -4878.2163, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1145.1812, + -4878.2163, + 400.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1095.1812, + -4791.6137, + 400.0 + ], + "actual_end_pos": [ + 1095.1812, + -4791.6137, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1095.1812, + -4791.6137, + 400.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1095.1812, + -4791.6137, + 400.0 + ], + "actual_end_pos": [ + 1095.1812, + -4791.6137, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1095.1812, + -4791.6137, + 400.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1069.2993, + -4695.0212, + 400.0 + ], + "actual_end_pos": [ + 1069.2993, + -4695.0212, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1069.2993, + -4695.0212, + 400.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1165.8919, + -4669.1392, + 400.0 + ], + "actual_end_pos": [ + 1165.8919, + -4669.1392, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1165.8919, + -4669.1392, + 400.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1191.7738, + -4765.7318, + 400.0 + ], + "actual_end_pos": [ + 1191.7738, + -4765.7318, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1191.7738, + -4765.7318, + 400.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1191.7738, + -4765.7318, + 400.0 + ], + "actual_end_pos": [ + 1191.7738, + -4765.7318, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1191.7738, + -4765.7318, + 400.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1278.3763, + -4715.7318, + 400.0 + ], + "actual_end_pos": [ + 1278.3763, + -4715.7318, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1278.3763, + -4715.7318, + 400.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1364.9788, + -4665.7318, + 400.0 + ], + "actual_end_pos": [ + 1364.9788, + -4665.7318, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1364.9788, + -4665.7318, + 400.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1364.9788, + -4665.7318, + 400.0 + ], + "actual_end_pos": [ + 1364.9788, + -4665.7318, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1364.9788, + -4665.7318, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2682, + -4736.4425, + 400.0 + ], + "actual_end_pos": [ + 1294.2682, + -4736.4425, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1294.2682, + -4736.4425, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1223.5575, + -4807.1532, + 400.0 + ], + "actual_end_pos": [ + 1223.5575, + -4807.1532, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1223.5575, + -4807.1532, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1152.8468, + -4877.8639, + 400.0 + ], + "actual_end_pos": [ + 1152.8468, + -4877.8639, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1152.8468, + -4877.8639, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1223.5575, + -4948.5745, + 400.0 + ], + "actual_end_pos": [ + 1223.5575, + -4948.5745, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1223.5575, + -4948.5745, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_pos": [ + 1294.2682, + -5019.2852, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_000744__traj_000691_meta.json b/loop_easy/run_20260408_000744__traj_000691_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ad512d8f0e1f5bf84442558a9ed4154ea16cad4b --- /dev/null +++ b/loop_easy/run_20260408_000744__traj_000691_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 691, + "episode_id": 0, + "state_id": 513, + "sample_index": 513, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1600.0, + -4960.0, + 400.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_right", + "look_up", + "move_forward", + "move_right", + "turn_right", + "move_backward", + "look_down", + "move_right", + "turn_left", + "move_left", + "move_forward", + "turn_left", + "move_left", + "turn_right", + "move_forward", + "move_right", + "turn_left", + "move_right", + "move_right", + "look_up", + "move_backward", + "look_up", + "turn_right", + "look_down", + "move_left", + "move_left", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1600.0, + -4960.0, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1670.7107, + -4889.2893, + 400.0 + ], + "actual_end_pos": [ + 1670.7107, + -4889.2893, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1670.7107, + -4889.2893, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1741.4214, + -4818.5786, + 400.0 + ], + "actual_end_pos": [ + 1741.4214, + -4818.5786, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1741.4214, + -4818.5786, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1670.7107, + -4747.868, + 400.0 + ], + "actual_end_pos": [ + 1670.7107, + -4747.868, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1670.7107, + -4747.868, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1670.7107, + -4747.868, + 400.0 + ], + "actual_end_pos": [ + 1670.7107, + -4747.868, + 400.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1670.7107, + -4747.868, + 400.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1740.8164, + -4677.7622, + 413.0526 + ], + "actual_end_pos": [ + 1740.8164, + -4677.7622, + 413.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1740.8164, + -4677.7622, + 413.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1670.1057, + -4607.0515, + 413.0526 + ], + "actual_end_pos": [ + 1670.1057, + -4607.0515, + 413.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1670.1057, + -4607.0515, + 413.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1670.1057, + -4607.0515, + 413.0526 + ], + "actual_end_pos": [ + 1670.1057, + -4607.0515, + 413.0526 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1670.1057, + -4607.0515, + 413.0526 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 1620.5335, + -4692.9132, + 400.0 + ], + "actual_end_pos": [ + 1620.5335, + -4692.9132, + 400.0 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1620.5335, + -4692.9132, + 400.0 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 1620.5335, + -4692.9132, + 400.0 + ], + "actual_end_pos": [ + 1620.5335, + -4692.9132, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1620.5335, + -4692.9132, + 400.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 1533.931, + -4642.9132, + 400.0 + ], + "actual_end_pos": [ + 1533.931, + -4642.9132, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1533.931, + -4642.9132, + 400.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 1533.931, + -4642.9132, + 400.0 + ], + "actual_end_pos": [ + 1533.931, + -4642.9132, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1533.931, + -4642.9132, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1604.6416, + -4713.6239, + 400.0 + ], + "actual_end_pos": [ + 1604.6416, + -4713.6239, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1604.6416, + -4713.6239, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1675.3523, + -4642.9132, + 400.0 + ], + "actual_end_pos": [ + 1675.3523, + -4642.9132, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1675.3523, + -4642.9132, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1675.3523, + -4642.9132, + 400.0 + ], + "actual_end_pos": [ + 1675.3523, + -4642.9132, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1675.3523, + -4642.9132, + 400.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1725.3523, + -4729.5157, + 400.0 + ], + "actual_end_pos": [ + 1725.3523, + -4729.5157, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1725.3523, + -4729.5157, + 400.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1725.3523, + -4729.5157, + 400.0 + ], + "actual_end_pos": [ + 1725.3523, + -4729.5157, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1725.3523, + -4729.5157, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1796.063, + -4658.8051, + 400.0 + ], + "actual_end_pos": [ + 1796.063, + -4658.8051, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1796.063, + -4658.8051, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1725.3523, + -4588.0944, + 400.0 + ], + "actual_end_pos": [ + 1725.3523, + -4588.0944, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1725.3523, + -4588.0944, + 400.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1725.3523, + -4588.0944, + 400.0 + ], + "actual_end_pos": [ + 1725.3523, + -4588.0944, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1725.3523, + -4588.0944, + 400.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1675.3523, + -4501.4918, + 400.0 + ], + "actual_end_pos": [ + 1675.3523, + -4501.4918, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1675.3523, + -4501.4918, + 400.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1625.3523, + -4414.8893, + 400.0 + ], + "actual_end_pos": [ + 1625.3523, + -4414.8893, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1625.3523, + -4414.8893, + 400.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1625.3523, + -4414.8893, + 400.0 + ], + "actual_end_pos": [ + 1625.3523, + -4414.8893, + 400.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1625.3523, + -4414.8893, + 400.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1539.4907, + -4464.4615, + 386.9474 + ], + "actual_end_pos": [ + 1539.4907, + -4464.4615, + 386.9474 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1539.4907, + -4464.4615, + 386.9474 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1539.4907, + -4464.4615, + 386.9474 + ], + "actual_end_pos": [ + 1539.4907, + -4464.4615, + 386.9474 + ], + "actual_end_rot": [ + 15.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1539.4907, + -4464.4615, + 386.9474 + ], + "start_rot": [ + 15.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 1539.4907, + -4464.4615, + 386.9474 + ], + "actual_end_pos": [ + 1539.4907, + -4464.4615, + 386.9474 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1539.4907, + -4464.4615, + 386.9474 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1539.4907, + -4464.4615, + 386.9474 + ], + "actual_end_pos": [ + 1539.4907, + -4464.4615, + 386.9474 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1539.4907, + -4464.4615, + 386.9474 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1610.2013, + -4535.1722, + 386.9474 + ], + "actual_end_pos": [ + 1610.2013, + -4535.1722, + 386.9474 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1610.2013, + -4535.1722, + 386.9474 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1680.912, + -4605.8829, + 386.9474 + ], + "actual_end_pos": [ + 1680.912, + -4605.8829, + 386.9474 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1680.912, + -4605.8829, + 386.9474 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1680.912, + -4605.8829, + 386.9474 + ], + "actual_end_pos": [ + 1680.912, + -4605.8829, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1680.912, + -4605.8829, + 386.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1610.2013, + -4676.5936, + 386.9474 + ], + "actual_end_pos": [ + 1610.2013, + -4676.5936, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1610.2013, + -4676.5936, + 386.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1539.4907, + -4747.3043, + 386.9474 + ], + "actual_end_pos": [ + 1539.4907, + -4747.3043, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1539.4907, + -4747.3043, + 386.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1468.78, + -4818.0149, + 386.9474 + ], + "actual_end_pos": [ + 1468.78, + -4818.0149, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1468.78, + -4818.0149, + 386.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1539.4907, + -4888.7256, + 386.9474 + ], + "actual_end_pos": [ + 1539.4907, + -4888.7256, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1539.4907, + -4888.7256, + 386.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1610.2013, + -4959.4363, + 386.9474 + ], + "actual_end_pos": [ + 1610.2013, + -4959.4363, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1610.2013, + -4959.4363, + 386.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1610.2013, + -4959.4363, + 386.9474 + ], + "actual_end_pos": [ + 1610.2013, + -4959.4363, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1610.2013, + -4959.4363, + 386.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1610.2013, + -4959.4363, + 386.9474 + ], + "actual_end_pos": [ + 1610.2013, + -4959.4363, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1610.2013, + -4959.4363, + 386.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1610.2013, + -4959.4363, + 386.9474 + ], + "actual_end_pos": [ + 1610.2013, + -4959.4363, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1610.2013, + -4959.4363, + 386.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1610.2013, + -4959.4363, + 386.9474 + ], + "actual_end_pos": [ + 1610.2013, + -4959.4363, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1610.2013, + -4959.4363, + 386.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1610.2013, + -4959.4363, + 386.9474 + ], + "actual_end_pos": [ + 1610.2013, + -4959.4363, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1610.2013, + -4959.4363, + 386.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1610.2013, + -4959.4363, + 386.9474 + ], + "actual_end_pos": [ + 1610.2013, + -4959.4363, + 386.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_000744__traj_000867_meta.json b/loop_easy/run_20260408_000744__traj_000867_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2d6848aecca86c61b24cac32204b10e3883e7c86 --- /dev/null +++ b/loop_easy/run_20260408_000744__traj_000867_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 867, + "episode_id": 0, + "state_id": 645, + "sample_index": 645, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2200.0, + -3760.0, + 400.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "turn_left", + "turn_left", + "move_backward", + "move_right", + "move_forward", + "no_op", + "move_right", + "move_backward", + "move_forward", + "move_forward", + "move_right", + "move_forward", + "no_op", + "move_right", + "turn_right", + "move_right", + "move_forward", + "turn_right", + "move_left", + "move_left", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2200.0, + -3760.0, + 400.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2270.7107, + -3830.7107, + 400.0 + ], + "actual_end_pos": [ + 2270.7107, + -3830.7107, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2270.7107, + -3830.7107, + 400.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2270.7107, + -3830.7107, + 400.0 + ], + "actual_end_pos": [ + 2270.7107, + -3830.7107, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2270.7107, + -3830.7107, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2270.7107, + -3830.7107, + 400.0 + ], + "actual_end_pos": [ + 2270.7107, + -3830.7107, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2270.7107, + -3830.7107, + 400.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2367.3033, + -3804.8288, + 400.0 + ], + "actual_end_pos": [ + 2367.3033, + -3804.8288, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2367.3033, + -3804.8288, + 400.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2393.1852, + -3901.4214, + 400.0 + ], + "actual_end_pos": [ + 2393.1852, + -3901.4214, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2393.1852, + -3901.4214, + 400.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2296.5926, + -3927.3033, + 400.0 + ], + "actual_end_pos": [ + 2296.5926, + -3927.3033, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2296.5926, + -3927.3033, + 400.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2296.5926, + -3927.3033, + 400.0 + ], + "actual_end_pos": [ + 2296.5926, + -3927.3033, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2296.5926, + -3927.3033, + 400.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2322.4745, + -4023.8958, + 400.0 + ], + "actual_end_pos": [ + 2322.4745, + -4023.8958, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2322.4745, + -4023.8958, + 400.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2419.0671, + -3998.0139, + 400.0 + ], + "actual_end_pos": [ + 2419.0671, + -3998.0139, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2419.0671, + -3998.0139, + 400.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2322.4745, + -4023.8958, + 400.0 + ], + "actual_end_pos": [ + 2322.4745, + -4023.8958, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2322.4745, + -4023.8958, + 400.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2225.8819, + -4049.7777, + 400.0 + ], + "actual_end_pos": [ + 2225.8819, + -4049.7777, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2225.8819, + -4049.7777, + 400.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2251.7638, + -4146.3703, + 400.0 + ], + "actual_end_pos": [ + 2251.7638, + -4146.3703, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2251.7638, + -4146.3703, + 400.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2155.1712, + -4172.2522, + 400.0 + ], + "actual_end_pos": [ + 2155.1712, + -4172.2522, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2155.1712, + -4172.2522, + 400.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2155.1712, + -4172.2522, + 400.0 + ], + "actual_end_pos": [ + 2155.1712, + -4172.2522, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2155.1712, + -4172.2522, + 400.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2181.0531, + -4268.8448, + 400.0 + ], + "actual_end_pos": [ + 2181.0531, + -4268.8448, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2181.0531, + -4268.8448, + 400.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2181.0531, + -4268.8448, + 400.0 + ], + "actual_end_pos": [ + 2181.0531, + -4268.8448, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2181.0531, + -4268.8448, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2231.0531, + -4355.4474, + 400.0 + ], + "actual_end_pos": [ + 2231.0531, + -4355.4474, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2231.0531, + -4355.4474, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2144.4506, + -4405.4474, + 400.0 + ], + "actual_end_pos": [ + 2144.4506, + -4405.4474, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2144.4506, + -4405.4474, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2144.4506, + -4405.4474, + 400.0 + ], + "actual_end_pos": [ + 2144.4506, + -4405.4474, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2144.4506, + -4405.4474, + 400.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2073.7399, + -4334.7367, + 400.0 + ], + "actual_end_pos": [ + 2073.7399, + -4334.7367, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2073.7399, + -4334.7367, + 400.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2003.0292, + -4264.026, + 400.0 + ], + "actual_end_pos": [ + 2003.0292, + -4264.026, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2003.0292, + -4264.026, + 400.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1932.3186, + -4334.7367, + 400.0 + ], + "actual_end_pos": [ + 1932.3186, + -4334.7367, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1932.3186, + -4334.7367, + 400.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1932.3186, + -4334.7367, + 400.0 + ], + "actual_end_pos": [ + 1932.3186, + -4334.7367, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1932.3186, + -4334.7367, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1932.3186, + -4334.7367, + 400.0 + ], + "actual_end_pos": [ + 1932.3186, + -4334.7367, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1932.3186, + -4334.7367, + 400.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2028.9112, + -4308.8548, + 400.0 + ], + "actual_end_pos": [ + 2028.9112, + -4308.8548, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2028.9112, + -4308.8548, + 400.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2125.5037, + -4282.9729, + 400.0 + ], + "actual_end_pos": [ + 2125.5037, + -4282.9729, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2125.5037, + -4282.9729, + 400.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2125.5037, + -4282.9729, + 400.0 + ], + "actual_end_pos": [ + 2125.5037, + -4282.9729, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2125.5037, + -4282.9729, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2125.5037, + -4282.9729, + 400.0 + ], + "actual_end_pos": [ + 2125.5037, + -4282.9729, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2125.5037, + -4282.9729, + 400.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2196.2144, + -4212.2622, + 400.0 + ], + "actual_end_pos": [ + 2196.2144, + -4212.2622, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2196.2144, + -4212.2622, + 400.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2266.9251, + -4141.5515, + 400.0 + ], + "actual_end_pos": [ + 2266.9251, + -4141.5515, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2266.9251, + -4141.5515, + 400.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2337.6358, + -4070.8408, + 400.0 + ], + "actual_end_pos": [ + 2337.6358, + -4070.8408, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2337.6358, + -4070.8408, + 400.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2408.3464, + -4000.1302, + 400.0 + ], + "actual_end_pos": [ + 2408.3464, + -4000.1302, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2408.3464, + -4000.1302, + 400.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2337.6358, + -3929.4195, + 400.0 + ], + "actual_end_pos": [ + 2337.6358, + -3929.4195, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2337.6358, + -3929.4195, + 400.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2266.9251, + -3858.7088, + 400.0 + ], + "actual_end_pos": [ + 2266.9251, + -3858.7088, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2266.9251, + -3858.7088, + 400.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2196.2144, + -3787.9981, + 400.0 + ], + "actual_end_pos": [ + 2196.2144, + -3787.9981, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2196.2144, + -3787.9981, + 400.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2196.2144, + -3787.9981, + 400.0 + ], + "actual_end_pos": [ + 2196.2144, + -3787.9981, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2196.2144, + -3787.9981, + 400.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2196.2144, + -3787.9981, + 400.0 + ], + "actual_end_pos": [ + 2196.2144, + -3787.9981, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2196.2144, + -3787.9981, + 400.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2196.2144, + -3787.9981, + 400.0 + ], + "actual_end_pos": [ + 2196.2144, + -3787.9981, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2196.2144, + -3787.9981, + 400.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2196.2144, + -3787.9981, + 400.0 + ], + "actual_end_pos": [ + 2196.2144, + -3787.9981, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2196.2144, + -3787.9981, + 400.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2196.2144, + -3787.9981, + 400.0 + ], + "actual_end_pos": [ + 2196.2144, + -3787.9981, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_115548__traj_000005_meta.json b/loop_easy/run_20260408_115548__traj_000005_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9514708c657f7f7aa9c3ff635c98d8ae82a7cb55 --- /dev/null +++ b/loop_easy/run_20260408_115548__traj_000005_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 5, + "episode_id": 0, + "state_id": 3, + "sample_index": 3, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -30.0, + -8650.0, + 2000.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_left", + "turn_left", + "move_forward", + "turn_right", + "move_forward", + "move_forward", + "move_right", + "look_down", + "move_right", + "move_right", + "move_backward", + "move_left", + "move_left", + "turn_left", + "move_backward", + "turn_left", + "turn_left", + "move_left", + "move_forward", + "turn_left", + "move_backward", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -30.0, + -8650.0, + 2000.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -100.7107, + -8579.2893, + 2000.0 + ], + "actual_end_pos": [ + -100.7107, + -8579.2893, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -100.7107, + -8579.2893, + 2000.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -100.7107, + -8579.2893, + 2000.0 + ], + "actual_end_pos": [ + -100.7107, + -8579.2893, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -100.7107, + -8579.2893, + 2000.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -100.7107, + -8579.2893, + 2000.0 + ], + "actual_end_pos": [ + -100.7107, + -8579.2893, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -100.7107, + -8579.2893, + 2000.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -126.5926, + -8482.6967, + 2000.0 + ], + "actual_end_pos": [ + -126.5926, + -8482.6967, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -126.5926, + -8482.6967, + 2000.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -126.5926, + -8482.6967, + 2000.0 + ], + "actual_end_pos": [ + -126.5926, + -8482.6967, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -126.5926, + -8482.6967, + 2000.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -176.5926, + -8396.0942, + 2000.0 + ], + "actual_end_pos": [ + -176.5926, + -8396.0942, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -176.5926, + -8396.0942, + 2000.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -226.5926, + -8309.4917, + 2000.0 + ], + "actual_end_pos": [ + -226.5926, + -8309.4917, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -226.5926, + -8309.4917, + 2000.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -313.1951, + -8359.4917, + 2000.0 + ], + "actual_end_pos": [ + -313.1951, + -8359.4917, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -313.1951, + -8359.4917, + 2000.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -313.1951, + -8359.4917, + 2000.0 + ], + "actual_end_pos": [ + -313.1951, + -8359.4917, + 2000.0 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -313.1951, + -8359.4917, + 2000.0 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -399.7977, + -8409.4917, + 2000.0 + ], + "actual_end_pos": [ + -399.7977, + -8409.4917, + 2000.0 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -399.7977, + -8409.4917, + 2000.0 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -486.4002, + -8459.4917, + 2000.0 + ], + "actual_end_pos": [ + -486.4002, + -8459.4917, + 2000.0 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -486.4002, + -8459.4917, + 2000.0 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -436.828, + -8545.3533, + 2013.0526 + ], + "actual_end_pos": [ + -436.828, + -8545.3533, + 2013.0526 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -436.828, + -8545.3533, + 2013.0526 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -350.2254, + -8495.3533, + 2013.0526 + ], + "actual_end_pos": [ + -350.2254, + -8495.3533, + 2013.0526 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -350.2254, + -8495.3533, + 2013.0526 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -263.6229, + -8445.3533, + 2013.0526 + ], + "actual_end_pos": [ + -263.6229, + -8445.3533, + 2013.0526 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -263.6229, + -8445.3533, + 2013.0526 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -263.6229, + -8445.3533, + 2013.0526 + ], + "actual_end_pos": [ + -263.6229, + -8445.3533, + 2013.0526 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -263.6229, + -8445.3533, + 2013.0526 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -237.9624, + -8541.1195, + 2026.1052 + ], + "actual_end_pos": [ + -237.9624, + -8541.1195, + 2026.1052 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -237.9624, + -8541.1195, + 2026.1052 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -237.9624, + -8541.1195, + 2026.1052 + ], + "actual_end_pos": [ + -237.9624, + -8541.1195, + 2026.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -237.9624, + -8541.1195, + 2026.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -237.9624, + -8541.1195, + 2026.1052 + ], + "actual_end_pos": [ + -237.9624, + -8541.1195, + 2026.1052 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -237.9624, + -8541.1195, + 2026.1052 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -141.3698, + -8567.0014, + 2026.1052 + ], + "actual_end_pos": [ + -141.3698, + -8567.0014, + 2026.1052 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -141.3698, + -8567.0014, + 2026.1052 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -115.7093, + -8471.2352, + 2013.0526 + ], + "actual_end_pos": [ + -115.7093, + -8471.2352, + 2013.0526 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -115.7093, + -8471.2352, + 2013.0526 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -115.7093, + -8471.2352, + 2013.0526 + ], + "actual_end_pos": [ + -115.7093, + -8471.2352, + 2013.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -115.7093, + -8471.2352, + 2013.0526 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -165.2816, + -8557.0968, + 2026.1052 + ], + "actual_end_pos": [ + -165.2816, + -8557.0968, + 2026.1052 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -165.2816, + -8557.0968, + 2026.1052 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -251.8841, + -8507.0968, + 2026.1052 + ], + "actual_end_pos": [ + -251.8841, + -8507.0968, + 2026.1052 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -251.8841, + -8507.0968, + 2026.1052 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -338.4867, + -8457.0968, + 2026.1052 + ], + "actual_end_pos": [ + -338.4867, + -8457.0968, + 2026.1052 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -338.4867, + -8457.0968, + 2026.1052 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -338.4867, + -8457.0968, + 2026.1052 + ], + "actual_end_pos": [ + -338.4867, + -8457.0968, + 2026.1052 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -338.4867, + -8457.0968, + 2026.1052 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -338.4867, + -8457.0968, + 2026.1052 + ], + "actual_end_pos": [ + -338.4867, + -8457.0968, + 2026.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -338.4867, + -8457.0968, + 2026.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -338.4867, + -8457.0968, + 2026.1052 + ], + "actual_end_pos": [ + -338.4867, + -8457.0968, + 2026.1052 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -338.4867, + -8457.0968, + 2026.1052 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -338.4867, + -8457.0968, + 2026.1052 + ], + "actual_end_pos": [ + -338.4867, + -8457.0968, + 2026.1052 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -338.4867, + -8457.0968, + 2026.1052 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -338.4867, + -8457.0968, + 2026.1052 + ], + "actual_end_pos": [ + -338.4867, + -8457.0968, + 2026.1052 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -338.4867, + -8457.0968, + 2026.1052 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -338.4867, + -8457.0968, + 2026.1052 + ], + "actual_end_pos": [ + -338.4867, + -8457.0968, + 2026.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -338.4867, + -8457.0968, + 2026.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -267.776, + -8527.8075, + 2026.1052 + ], + "actual_end_pos": [ + -267.776, + -8527.8075, + 2026.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -267.776, + -8527.8075, + 2026.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -197.0653, + -8598.5182, + 2026.1052 + ], + "actual_end_pos": [ + -197.0653, + -8598.5182, + 2026.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -197.0653, + -8598.5182, + 2026.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -126.3546, + -8669.2289, + 2026.1052 + ], + "actual_end_pos": [ + -126.3546, + -8669.2289, + 2026.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -126.3546, + -8669.2289, + 2026.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -55.6439, + -8739.9396, + 2026.1052 + ], + "actual_end_pos": [ + -55.6439, + -8739.9396, + 2026.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -55.6439, + -8739.9396, + 2026.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 15.0667, + -8669.2289, + 2026.1052 + ], + "actual_end_pos": [ + 15.0667, + -8669.2289, + 2026.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15.0667, + -8669.2289, + 2026.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 15.0667, + -8669.2289, + 2026.1052 + ], + "actual_end_pos": [ + 15.0667, + -8669.2289, + 2026.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15.0667, + -8669.2289, + 2026.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 15.0667, + -8669.2289, + 2026.1052 + ], + "actual_end_pos": [ + 15.0667, + -8669.2289, + 2026.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15.0667, + -8669.2289, + 2026.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 15.0667, + -8669.2289, + 2026.1052 + ], + "actual_end_pos": [ + 15.0667, + -8669.2289, + 2026.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15.0667, + -8669.2289, + 2026.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 15.0667, + -8669.2289, + 2026.1052 + ], + "actual_end_pos": [ + 15.0667, + -8669.2289, + 2026.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15.0667, + -8669.2289, + 2026.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 15.0667, + -8669.2289, + 2026.1052 + ], + "actual_end_pos": [ + 15.0667, + -8669.2289, + 2026.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_180248__traj_000156_meta.json b/loop_easy/run_20260408_180248__traj_000156_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6314350ba42177f5b577d2875e9ad55a15bdff49 --- /dev/null +++ b/loop_easy/run_20260408_180248__traj_000156_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 156, + "episode_id": 0, + "state_id": 112, + "sample_index": 112, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -3660.0, + -21170.0, + 200.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_left", + "move_left", + "move_left", + "move_backward", + "turn_left", + "move_left", + "turn_left", + "move_right", + "move_backward", + "move_right", + "move_right", + "look_down", + "move_backward", + "move_left", + "look_up", + "move_right", + "turn_left", + "look_down", + "turn_left", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "look_up", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3660.0, + -21170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3560.0, + -21170.0, + 200.0 + ], + "actual_end_pos": [ + -3560.0, + -21170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3560.0, + -21170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3560.0, + -21270.0, + 200.0 + ], + "actual_end_pos": [ + -3560.0, + -21270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3560.0, + -21270.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3560.0, + -21370.0, + 200.0 + ], + "actual_end_pos": [ + -3560.0, + -21370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3560.0, + -21370.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3560.0, + -21470.0, + 200.0 + ], + "actual_end_pos": [ + -3560.0, + -21470.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3560.0, + -21470.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -21470.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -21470.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3660.0, + -21470.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -21470.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -21470.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3660.0, + -21470.0, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3685.8819, + -21566.5926, + 200.0 + ], + "actual_end_pos": [ + -3685.8819, + -21566.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3685.8819, + -21566.5926, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3685.8819, + -21566.5926, + 200.0 + ], + "actual_end_pos": [ + -3685.8819, + -21566.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3685.8819, + -21566.5926, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3635.8819, + -21479.99, + 200.0 + ], + "actual_end_pos": [ + -3635.8819, + -21479.99, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3635.8819, + -21479.99, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3722.4844, + -21429.99, + 200.0 + ], + "actual_end_pos": [ + -3722.4844, + -21429.99, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3722.4844, + -21429.99, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3672.4844, + -21343.3875, + 200.0 + ], + "actual_end_pos": [ + -3672.4844, + -21343.3875, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3672.4844, + -21343.3875, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3622.4844, + -21256.785, + 200.0 + ], + "actual_end_pos": [ + -3622.4844, + -21256.785, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3622.4844, + -21256.785, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3622.4844, + -21256.785, + 200.0 + ], + "actual_end_pos": [ + -3622.4844, + -21256.785, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3622.4844, + -21256.785, + 200.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3708.3461, + -21207.2127, + 213.0526 + ], + "actual_end_pos": [ + -3708.3461, + -21207.2127, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3708.3461, + -21207.2127, + 213.0526 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3758.3461, + -21293.8153, + 213.0526 + ], + "actual_end_pos": [ + -3758.3461, + -21293.8153, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3758.3461, + -21293.8153, + 213.0526 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3758.3461, + -21293.8153, + 213.0526 + ], + "actual_end_pos": [ + -3758.3461, + -21293.8153, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3758.3461, + -21293.8153, + 213.0526 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3708.3461, + -21207.2127, + 213.0526 + ], + "actual_end_pos": [ + -3708.3461, + -21207.2127, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3708.3461, + -21207.2127, + 213.0526 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3708.3461, + -21207.2127, + 213.0526 + ], + "actual_end_pos": [ + -3708.3461, + -21207.2127, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3708.3461, + -21207.2127, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3708.3461, + -21207.2127, + 213.0526 + ], + "actual_end_pos": [ + -3708.3461, + -21207.2127, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3708.3461, + -21207.2127, + 213.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3708.3461, + -21207.2127, + 213.0526 + ], + "actual_end_pos": [ + -3708.3461, + -21207.2127, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3708.3461, + -21207.2127, + 213.0526 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "start_rot": [ + -7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_pos": [ + -3621.7435, + -21157.2127, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_180248__traj_000435_meta.json b/loop_easy/run_20260408_180248__traj_000435_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc9a87fdd8af126319a83b846b861dbe18404458 --- /dev/null +++ b/loop_easy/run_20260408_180248__traj_000435_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 435, + "episode_id": 0, + "state_id": 327, + "sample_index": 327, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2660.0, + -35170.0, + 200.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_left", + "move_backward", + "move_left", + "move_forward", + "move_right", + "no_op", + "move_left", + "no_op", + "move_right", + "move_right", + "move_forward", + "no_op", + "move_left", + "move_forward", + "move_left", + "turn_left", + "look_down", + "move_left", + "look_down", + "no_op", + "turn_left", + "move_forward", + "move_right", + "turn_right", + "turn_right", + "move_right", + "turn_right", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2660.0, + -35170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2589.2893, + -35240.7107, + 200.0 + ], + "actual_end_pos": [ + -2589.2893, + -35240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2589.2893, + -35240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2589.2893, + -35240.7107, + 200.0 + ], + "actual_end_pos": [ + -2589.2893, + -35240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2589.2893, + -35240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2639.2893, + -35154.1081, + 200.0 + ], + "actual_end_pos": [ + -2639.2893, + -35154.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2639.2893, + -35154.1081, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2725.8919, + -35204.1081, + 200.0 + ], + "actual_end_pos": [ + -2725.8919, + -35204.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2725.8919, + -35204.1081, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2675.8919, + -35290.7107, + 200.0 + ], + "actual_end_pos": [ + -2675.8919, + -35290.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2675.8919, + -35290.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2589.2893, + -35240.7107, + 200.0 + ], + "actual_end_pos": [ + -2589.2893, + -35240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2589.2893, + -35240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2589.2893, + -35240.7107, + 200.0 + ], + "actual_end_pos": [ + -2589.2893, + -35240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2589.2893, + -35240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2675.8919, + -35290.7107, + 200.0 + ], + "actual_end_pos": [ + -2675.8919, + -35290.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2675.8919, + -35290.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2675.8919, + -35290.7107, + 200.0 + ], + "actual_end_pos": [ + -2675.8919, + -35290.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2675.8919, + -35290.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2589.2893, + -35240.7107, + 200.0 + ], + "actual_end_pos": [ + -2589.2893, + -35240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2589.2893, + -35240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2502.6868, + -35190.7107, + 200.0 + ], + "actual_end_pos": [ + -2502.6868, + -35190.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2502.6868, + -35190.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2452.6868, + -35277.3132, + 200.0 + ], + "actual_end_pos": [ + -2452.6868, + -35277.3132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2452.6868, + -35277.3132, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2452.6868, + -35277.3132, + 200.0 + ], + "actual_end_pos": [ + -2452.6868, + -35277.3132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2452.6868, + -35277.3132, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2539.2893, + -35327.3132, + 200.0 + ], + "actual_end_pos": [ + -2539.2893, + -35327.3132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2539.2893, + -35327.3132, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2489.2893, + -35413.9158, + 200.0 + ], + "actual_end_pos": [ + -2489.2893, + -35413.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2489.2893, + -35413.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2575.8919, + -35463.9158, + 200.0 + ], + "actual_end_pos": [ + -2575.8919, + -35463.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2575.8919, + -35463.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2575.8919, + -35463.9158, + 200.0 + ], + "actual_end_pos": [ + -2575.8919, + -35463.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2575.8919, + -35463.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2575.8919, + -35463.9158, + 200.0 + ], + "actual_end_pos": [ + -2575.8919, + -35463.9158, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2575.8919, + -35463.9158, + 200.0 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2672.4844, + -35489.7977, + 200.0 + ], + "actual_end_pos": [ + -2672.4844, + -35489.7977, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2672.4844, + -35489.7977, + 200.0 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2672.4844, + -35489.7977, + 200.0 + ], + "actual_end_pos": [ + -2672.4844, + -35489.7977, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2672.4844, + -35489.7977, + 200.0 + ], + "start_rot": [ + -15.0, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -2672.4844, + -35489.7977, + 200.0 + ], + "actual_end_pos": [ + -2672.4844, + -35489.7977, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2672.4844, + -35489.7977, + 200.0 + ], + "start_rot": [ + -15.0, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -2672.4844, + -35489.7977, + 200.0 + ], + "actual_end_pos": [ + -2672.4844, + -35489.7977, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2672.4844, + -35489.7977, + 200.0 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2672.4844, + -35586.3902, + 174.1181 + ], + "actual_end_pos": [ + -2672.4844, + -35586.3902, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2672.4844, + -35586.3902, + 174.1181 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2572.4844, + -35586.3902, + 174.1181 + ], + "actual_end_pos": [ + -2572.4844, + -35586.3902, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2572.4844, + -35586.3902, + 174.1181 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2572.4844, + -35586.3902, + 174.1181 + ], + "actual_end_pos": [ + -2572.4844, + -35586.3902, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2572.4844, + -35586.3902, + 174.1181 + ], + "start_rot": [ + -15.0, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -2572.4844, + -35586.3902, + 174.1181 + ], + "actual_end_pos": [ + -2572.4844, + -35586.3902, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2572.4844, + -35586.3902, + 174.1181 + ], + "start_rot": [ + -15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2485.8819, + -35536.3902, + 174.1181 + ], + "actual_end_pos": [ + -2485.8819, + -35536.3902, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2485.8819, + -35536.3902, + 174.1181 + ], + "start_rot": [ + -15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2485.8819, + -35536.3902, + 174.1181 + ], + "actual_end_pos": [ + -2485.8819, + -35536.3902, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2485.8819, + -35536.3902, + 174.1181 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2485.8819, + -35536.3902, + 174.1181 + ], + "actual_end_pos": [ + -2485.8819, + -35536.3902, + 174.1181 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2485.8819, + -35536.3902, + 174.1181 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2555.9876, + -35466.2845, + 187.1707 + ], + "actual_end_pos": [ + -2555.9876, + -35466.2845, + 187.1707 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2555.9876, + -35466.2845, + 187.1707 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2626.0934, + -35396.1788, + 200.2233 + ], + "actual_end_pos": [ + -2626.0934, + -35396.1788, + 200.2233 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2626.0934, + -35396.1788, + 200.2233 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2696.1991, + -35326.073, + 213.276 + ], + "actual_end_pos": [ + -2696.1991, + -35326.073, + 213.276 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2696.1991, + -35326.073, + 213.276 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2766.3049, + -35255.9673, + 226.3286 + ], + "actual_end_pos": [ + -2766.3049, + -35255.9673, + 226.3286 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2766.3049, + -35255.9673, + 226.3286 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2695.5942, + -35185.2566, + 226.3286 + ], + "actual_end_pos": [ + -2695.5942, + -35185.2566, + 226.3286 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2695.5942, + -35185.2566, + 226.3286 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2695.5942, + -35185.2566, + 226.3286 + ], + "actual_end_pos": [ + -2695.5942, + -35185.2566, + 226.3286 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2695.5942, + -35185.2566, + 226.3286 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2695.5942, + -35185.2566, + 226.3286 + ], + "actual_end_pos": [ + -2695.5942, + -35185.2566, + 226.3286 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2695.5942, + -35185.2566, + 226.3286 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2695.5942, + -35185.2566, + 226.3286 + ], + "actual_end_pos": [ + -2695.5942, + -35185.2566, + 226.3286 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2695.5942, + -35185.2566, + 226.3286 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2695.5942, + -35185.2566, + 226.3286 + ], + "actual_end_pos": [ + -2695.5942, + -35185.2566, + 226.3286 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2695.5942, + -35185.2566, + 226.3286 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2695.5942, + -35185.2566, + 226.3286 + ], + "actual_end_pos": [ + -2695.5942, + -35185.2566, + 226.3286 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2695.5942, + -35185.2566, + 226.3286 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2695.5942, + -35185.2566, + 226.3286 + ], + "actual_end_pos": [ + -2695.5942, + -35185.2566, + 226.3286 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_180248__traj_000610_meta.json b/loop_easy/run_20260408_180248__traj_000610_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d368fb46c1597d2b1ef329faea7306c65e63b5a4 --- /dev/null +++ b/loop_easy/run_20260408_180248__traj_000610_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 610, + "episode_id": 0, + "state_id": 454, + "sample_index": 454, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2660.0, + -12170.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_forward", + "move_forward", + "move_backward", + "turn_left", + "move_left", + "turn_right", + "move_left", + "no_op", + "turn_right", + "turn_right", + "no_op", + "turn_left", + "look_up", + "look_up", + "move_left", + "move_forward", + "turn_right", + "no_op", + "no_op", + "move_forward", + "no_op", + "turn_left", + "turn_left", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2660.0, + -12170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2760.0, + -12170.0, + 200.0 + ], + "actual_end_pos": [ + -2760.0, + -12170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2760.0, + -12170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2760.0, + -12270.0, + 200.0 + ], + "actual_end_pos": [ + -2760.0, + -12270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2760.0, + -12270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2760.0, + -12370.0, + 200.0 + ], + "actual_end_pos": [ + -2760.0, + -12370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2760.0, + -12370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2760.0, + -12270.0, + 200.0 + ], + "actual_end_pos": [ + -2760.0, + -12270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2760.0, + -12270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2760.0, + -12270.0, + 200.0 + ], + "actual_end_pos": [ + -2760.0, + -12270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2760.0, + -12270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2856.5926, + -12244.1181, + 200.0 + ], + "actual_end_pos": [ + -2856.5926, + -12244.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2856.5926, + -12244.1181, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2856.5926, + -12244.1181, + 200.0 + ], + "actual_end_pos": [ + -2856.5926, + -12244.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2856.5926, + -12244.1181, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "actual_end_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "actual_end_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "actual_end_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "actual_end_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "actual_end_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "actual_end_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "actual_end_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "actual_end_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2956.5926, + -12244.1181, + 200.0 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3053.1852, + -12270.0, + 200.0 + ], + "actual_end_pos": [ + -3053.1852, + -12270.0, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3053.1852, + -12270.0, + 200.0 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3028.1852, + -12363.3013, + 225.8819 + ], + "actual_end_pos": [ + -3028.1852, + -12363.3013, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3028.1852, + -12363.3013, + 225.8819 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3028.1852, + -12363.3013, + 225.8819 + ], + "actual_end_pos": [ + -3028.1852, + -12363.3013, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3028.1852, + -12363.3013, + 225.8819 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3028.1852, + -12363.3013, + 225.8819 + ], + "actual_end_pos": [ + -3028.1852, + -12363.3013, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3028.1852, + -12363.3013, + 225.8819 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3028.1852, + -12363.3013, + 225.8819 + ], + "actual_end_pos": [ + -3028.1852, + -12363.3013, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3028.1852, + -12363.3013, + 225.8819 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2979.8889, + -12446.9529, + 251.7638 + ], + "actual_end_pos": [ + -2979.8889, + -12446.9529, + 251.7638 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2979.8889, + -12446.9529, + 251.7638 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2979.8889, + -12446.9529, + 251.7638 + ], + "actual_end_pos": [ + -2979.8889, + -12446.9529, + 251.7638 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2979.8889, + -12446.9529, + 251.7638 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2979.8889, + -12446.9529, + 251.7638 + ], + "actual_end_pos": [ + -2979.8889, + -12446.9529, + 251.7638 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2979.8889, + -12446.9529, + 251.7638 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2979.8889, + -12446.9529, + 251.7638 + ], + "actual_end_pos": [ + -2979.8889, + -12446.9529, + 251.7638 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2979.8889, + -12446.9529, + 251.7638 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2979.8889, + -12446.9529, + 251.7638 + ], + "actual_end_pos": [ + -2979.8889, + -12446.9529, + 251.7638 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2979.8889, + -12446.9529, + 251.7638 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2979.8889, + -12347.8084, + 238.7112 + ], + "actual_end_pos": [ + -2979.8889, + -12347.8084, + 238.7112 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2979.8889, + -12347.8084, + 238.7112 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2979.8889, + -12248.6639, + 225.6586 + ], + "actual_end_pos": [ + -2979.8889, + -12248.6639, + 225.6586 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2979.8889, + -12248.6639, + 225.6586 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2979.8889, + -12149.5194, + 212.606 + ], + "actual_end_pos": [ + -2979.8889, + -12149.5194, + 212.606 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2979.8889, + -12149.5194, + 212.606 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2879.8889, + -12149.5194, + 212.606 + ], + "actual_end_pos": [ + -2879.8889, + -12149.5194, + 212.606 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2879.8889, + -12149.5194, + 212.606 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2779.8889, + -12149.5194, + 212.606 + ], + "actual_end_pos": [ + -2779.8889, + -12149.5194, + 212.606 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2779.8889, + -12149.5194, + 212.606 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "actual_end_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "actual_end_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "actual_end_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "actual_end_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "actual_end_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "actual_end_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "actual_end_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "actual_end_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "actual_end_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "actual_end_pos": [ + -2679.8889, + -12149.5194, + 212.606 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_180248__traj_000780_meta.json b/loop_easy/run_20260408_180248__traj_000780_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..100591f581c94c5376849d99412e7bc389478051 --- /dev/null +++ b/loop_easy/run_20260408_180248__traj_000780_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 780, + "episode_id": 0, + "state_id": 575, + "sample_index": 575, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1660.0, + -38170.0, + 200.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "look_down", + "move_backward", + "move_right", + "move_right", + "turn_right", + "move_right", + "look_down", + "turn_left", + "move_forward", + "turn_right", + "move_right", + "look_up", + "move_backward", + "move_right", + "move_forward", + "turn_left", + "look_up", + "move_forward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1660.0, + -38170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1660.0, + -38170.0, + 200.0 + ], + "actual_end_pos": [ + -1660.0, + -38170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1660.0, + -38170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1660.0, + -38170.0, + 200.0 + ], + "actual_end_pos": [ + -1660.0, + -38170.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1660.0, + -38170.0, + 200.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1730.1057, + -38099.8943, + 213.0526 + ], + "actual_end_pos": [ + -1730.1057, + -38099.8943, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1730.1057, + -38099.8943, + 213.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1659.3951, + -38029.1836, + 213.0526 + ], + "actual_end_pos": [ + -1659.3951, + -38029.1836, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1659.3951, + -38029.1836, + 213.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1588.6844, + -37958.4729, + 213.0526 + ], + "actual_end_pos": [ + -1588.6844, + -37958.4729, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1588.6844, + -37958.4729, + 213.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1588.6844, + -37958.4729, + 213.0526 + ], + "actual_end_pos": [ + -1588.6844, + -37958.4729, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1588.6844, + -37958.4729, + 213.0526 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1538.6844, + -37871.8704, + 213.0526 + ], + "actual_end_pos": [ + -1538.6844, + -37871.8704, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1538.6844, + -37871.8704, + 213.0526 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1538.6844, + -37871.8704, + 213.0526 + ], + "actual_end_pos": [ + -1538.6844, + -37871.8704, + 213.0526 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1538.6844, + -37871.8704, + 213.0526 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1538.6844, + -37871.8704, + 213.0526 + ], + "actual_end_pos": [ + -1538.6844, + -37871.8704, + 213.0526 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1538.6844, + -37871.8704, + 213.0526 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1470.3831, + -37940.1716, + 187.1707 + ], + "actual_end_pos": [ + -1470.3831, + -37940.1716, + 187.1707 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1470.3831, + -37940.1716, + 187.1707 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1470.3831, + -37940.1716, + 187.1707 + ], + "actual_end_pos": [ + -1470.3831, + -37940.1716, + 187.1707 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1470.3831, + -37940.1716, + 187.1707 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1420.3831, + -37853.5691, + 187.1707 + ], + "actual_end_pos": [ + -1420.3831, + -37853.5691, + 187.1707 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1420.3831, + -37853.5691, + 187.1707 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1420.3831, + -37853.5691, + 187.1707 + ], + "actual_end_pos": [ + -1420.3831, + -37853.5691, + 187.1707 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1420.3831, + -37853.5691, + 187.1707 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1506.2448, + -37803.9969, + 200.2233 + ], + "actual_end_pos": [ + -1506.2448, + -37803.9969, + 200.2233 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1506.2448, + -37803.9969, + 200.2233 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1456.2448, + -37717.3943, + 200.2233 + ], + "actual_end_pos": [ + -1456.2448, + -37717.3943, + 200.2233 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1456.2448, + -37717.3943, + 200.2233 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1370.3831, + -37766.9666, + 187.1707 + ], + "actual_end_pos": [ + -1370.3831, + -37766.9666, + 187.1707 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1370.3831, + -37766.9666, + 187.1707 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1370.3831, + -37766.9666, + 187.1707 + ], + "actual_end_pos": [ + -1370.3831, + -37766.9666, + 187.1707 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1370.3831, + -37766.9666, + 187.1707 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1370.3831, + -37766.9666, + 187.1707 + ], + "actual_end_pos": [ + -1370.3831, + -37766.9666, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1370.3831, + -37766.9666, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1299.6724, + -37837.6772, + 187.1707 + ], + "actual_end_pos": [ + -1299.6724, + -37837.6772, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1299.6724, + -37837.6772, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1370.3831, + -37908.3879, + 187.1707 + ], + "actual_end_pos": [ + -1370.3831, + -37908.3879, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1370.3831, + -37908.3879, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1441.0938, + -37979.0986, + 187.1707 + ], + "actual_end_pos": [ + -1441.0938, + -37979.0986, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1441.0938, + -37979.0986, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1511.8045, + -38049.8093, + 187.1707 + ], + "actual_end_pos": [ + -1511.8045, + -38049.8093, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1511.8045, + -38049.8093, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1582.5151, + -38120.5199, + 187.1707 + ], + "actual_end_pos": [ + -1582.5151, + -38120.5199, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1582.5151, + -38120.5199, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_pos": [ + -1653.2258, + -38191.2306, + 187.1707 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_180248__traj_001006_meta.json b/loop_easy/run_20260408_180248__traj_001006_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc8d9afb4ed8e3ce15bc84755a77a9dc3ac94f2c --- /dev/null +++ b/loop_easy/run_20260408_180248__traj_001006_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1006, + "episode_id": 0, + "state_id": 744, + "sample_index": 744, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1660.0, + -9170.0, + 200.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "look_up", + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "look_up", + "move_left", + "move_forward", + "move_forward", + "turn_left", + "no_op", + "turn_right", + "move_forward", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1660.0, + -9170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1560.0, + -9170.0, + 200.0 + ], + "actual_end_pos": [ + -1560.0, + -9170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1560.0, + -9170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1560.0, + -9170.0, + 200.0 + ], + "actual_end_pos": [ + -1560.0, + -9170.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1560.0, + -9170.0, + 200.0 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1460.8555, + -9170.0, + 213.0526 + ], + "actual_end_pos": [ + -1460.8555, + -9170.0, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1460.8555, + -9170.0, + 213.0526 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1361.711, + -9170.0, + 226.1052 + ], + "actual_end_pos": [ + -1361.711, + -9170.0, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1361.711, + -9170.0, + 226.1052 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1361.711, + -9070.0, + 226.1052 + ], + "actual_end_pos": [ + -1361.711, + -9070.0, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1361.711, + -9070.0, + 226.1052 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1361.711, + -8970.0, + 226.1052 + ], + "actual_end_pos": [ + -1361.711, + -8970.0, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1361.711, + -8970.0, + 226.1052 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1361.711, + -8870.0, + 226.1052 + ], + "actual_end_pos": [ + -1361.711, + -8870.0, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1361.711, + -8870.0, + 226.1052 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1262.5665, + -8870.0, + 239.1579 + ], + "actual_end_pos": [ + -1262.5665, + -8870.0, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1262.5665, + -8870.0, + 239.1579 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1163.4221, + -8870.0, + 252.2105 + ], + "actual_end_pos": [ + -1163.4221, + -8870.0, + 252.2105 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1163.4221, + -8870.0, + 252.2105 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1064.2776, + -8870.0, + 265.2631 + ], + "actual_end_pos": [ + -1064.2776, + -8870.0, + 265.2631 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1064.2776, + -8870.0, + 265.2631 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -965.1331, + -8870.0, + 278.3157 + ], + "actual_end_pos": [ + -965.1331, + -8870.0, + 278.3157 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -965.1331, + -8870.0, + 278.3157 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -865.9886, + -8870.0, + 291.3683 + ], + "actual_end_pos": [ + -865.9886, + -8870.0, + 291.3683 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -865.9886, + -8870.0, + 291.3683 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -766.8441, + -8870.0, + 304.421 + ], + "actual_end_pos": [ + -766.8441, + -8870.0, + 304.421 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -766.8441, + -8870.0, + 304.421 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -766.8441, + -8870.0, + 304.421 + ], + "actual_end_pos": [ + -766.8441, + -8870.0, + 304.421 + ], + "actual_end_rot": [ + 15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -766.8441, + -8870.0, + 304.421 + ], + "start_rot": [ + 15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -766.8441, + -8970.0, + 304.421 + ], + "actual_end_pos": [ + -766.8441, + -8970.0, + 304.421 + ], + "actual_end_rot": [ + 15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -766.8441, + -8970.0, + 304.421 + ], + "start_rot": [ + 15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -670.2515, + -8970.0, + 330.3029 + ], + "actual_end_pos": [ + -670.2515, + -8970.0, + 330.3029 + ], + "actual_end_rot": [ + 15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -670.2515, + -8970.0, + 330.3029 + ], + "start_rot": [ + 15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -573.6589, + -8970.0, + 356.1848 + ], + "actual_end_pos": [ + -573.6589, + -8970.0, + 356.1848 + ], + "actual_end_rot": [ + 15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -573.6589, + -8970.0, + 356.1848 + ], + "start_rot": [ + 15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -573.6589, + -8970.0, + 356.1848 + ], + "actual_end_pos": [ + -573.6589, + -8970.0, + 356.1848 + ], + "actual_end_rot": [ + 15.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -573.6589, + -8970.0, + 356.1848 + ], + "start_rot": [ + 15.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -573.6589, + -8970.0, + 356.1848 + ], + "actual_end_pos": [ + -573.6589, + -8970.0, + 356.1848 + ], + "actual_end_rot": [ + 15.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -573.6589, + -8970.0, + 356.1848 + ], + "start_rot": [ + 15.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -573.6589, + -8970.0, + 356.1848 + ], + "actual_end_pos": [ + -573.6589, + -8970.0, + 356.1848 + ], + "actual_end_rot": [ + 15.0, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -573.6589, + -8970.0, + 356.1848 + ], + "start_rot": [ + 15.0, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -477.0664, + -8970.0, + 382.0667 + ], + "actual_end_pos": [ + -477.0664, + -8970.0, + 382.0667 + ], + "actual_end_rot": [ + 15.0, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -477.0664, + -8970.0, + 382.0667 + ], + "start_rot": [ + 15.0, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -477.0664, + -8970.0, + 382.0667 + ], + "actual_end_pos": [ + -477.0664, + -8970.0, + 382.0667 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -477.0664, + -8970.0, + 382.0667 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -576.2108, + -8970.0, + 369.014 + ], + "actual_end_pos": [ + -576.2108, + -8970.0, + 369.014 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -576.2108, + -8970.0, + 369.014 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -675.3553, + -8970.0, + 355.9614 + ], + "actual_end_pos": [ + -675.3553, + -8970.0, + 355.9614 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -675.3553, + -8970.0, + 355.9614 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -774.4998, + -8970.0, + 342.9088 + ], + "actual_end_pos": [ + -774.4998, + -8970.0, + 342.9088 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -774.4998, + -8970.0, + 342.9088 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -873.6443, + -8970.0, + 329.8562 + ], + "actual_end_pos": [ + -873.6443, + -8970.0, + 329.8562 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -873.6443, + -8970.0, + 329.8562 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -972.7888, + -8970.0, + 316.8036 + ], + "actual_end_pos": [ + -972.7888, + -8970.0, + 316.8036 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -972.7888, + -8970.0, + 316.8036 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -1071.9333, + -8970.0, + 303.751 + ], + "actual_end_pos": [ + -1071.9333, + -8970.0, + 303.751 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1071.9333, + -8970.0, + 303.751 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -1171.0778, + -8970.0, + 290.6983 + ], + "actual_end_pos": [ + -1171.0778, + -8970.0, + 290.6983 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1171.0778, + -8970.0, + 290.6983 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -1270.2223, + -8970.0, + 277.6457 + ], + "actual_end_pos": [ + -1270.2223, + -8970.0, + 277.6457 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1270.2223, + -8970.0, + 277.6457 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -1369.3667, + -8970.0, + 264.5931 + ], + "actual_end_pos": [ + -1369.3667, + -8970.0, + 264.5931 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1369.3667, + -8970.0, + 264.5931 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -1468.5112, + -8970.0, + 251.5405 + ], + "actual_end_pos": [ + -1468.5112, + -8970.0, + 251.5405 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1468.5112, + -8970.0, + 251.5405 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -1567.6557, + -8970.0, + 238.4879 + ], + "actual_end_pos": [ + -1567.6557, + -8970.0, + 238.4879 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1567.6557, + -8970.0, + 238.4879 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -1666.8002, + -8970.0, + 225.4352 + ], + "actual_end_pos": [ + -1666.8002, + -8970.0, + 225.4352 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1666.8002, + -8970.0, + 225.4352 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -1666.8002, + -9070.0, + 225.4352 + ], + "actual_end_pos": [ + -1666.8002, + -9070.0, + 225.4352 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1666.8002, + -9070.0, + 225.4352 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -1666.8002, + -9170.0, + 225.4352 + ], + "actual_end_pos": [ + -1666.8002, + -9170.0, + 225.4352 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1666.8002, + -9170.0, + 225.4352 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -1666.8002, + -9170.0, + 225.4352 + ], + "actual_end_pos": [ + -1666.8002, + -9170.0, + 225.4352 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1666.8002, + -9170.0, + 225.4352 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -1666.8002, + -9170.0, + 225.4352 + ], + "actual_end_pos": [ + -1666.8002, + -9170.0, + 225.4352 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1666.8002, + -9170.0, + 225.4352 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -1666.8002, + -9170.0, + 225.4352 + ], + "actual_end_pos": [ + -1666.8002, + -9170.0, + 225.4352 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1666.8002, + -9170.0, + 225.4352 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -1666.8002, + -9170.0, + 225.4352 + ], + "actual_end_pos": [ + -1666.8002, + -9170.0, + 225.4352 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_180248__traj_001533_meta.json b/loop_easy/run_20260408_180248__traj_001533_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..307da93281eb0d6bb394789c4d60742be1ffc00d --- /dev/null +++ b/loop_easy/run_20260408_180248__traj_001533_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1533, + "episode_id": 0, + "state_id": 1131, + "sample_index": 1131, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -660.0, + -2170.0, + 200.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_forward", + "move_right", + "no_op", + "move_backward", + "look_up", + "no_op", + "no_op", + "move_backward", + "no_op", + "move_backward", + "look_up", + "turn_right", + "move_backward", + "move_left", + "move_forward", + "move_right", + "move_forward", + "turn_left", + "look_down", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -660.0, + -2170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -589.2893, + -2240.7107, + 200.0 + ], + "actual_end_pos": [ + -589.2893, + -2240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -589.2893, + -2240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -518.5786, + -2311.4214, + 200.0 + ], + "actual_end_pos": [ + -518.5786, + -2311.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -518.5786, + -2311.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -447.868, + -2240.7107, + 200.0 + ], + "actual_end_pos": [ + -447.868, + -2240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -447.868, + -2240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -377.1573, + -2170.0, + 200.0 + ], + "actual_end_pos": [ + -377.1573, + -2170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -377.1573, + -2170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -447.868, + -2099.2893, + 200.0 + ], + "actual_end_pos": [ + -447.868, + -2099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -447.868, + -2099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -518.5786, + -2170.0, + 200.0 + ], + "actual_end_pos": [ + -518.5786, + -2170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -518.5786, + -2170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -518.5786, + -2170.0, + 200.0 + ], + "actual_end_pos": [ + -518.5786, + -2170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -518.5786, + -2170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -447.868, + -2240.7107, + 200.0 + ], + "actual_end_pos": [ + -447.868, + -2240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -447.868, + -2240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -447.868, + -2240.7107, + 200.0 + ], + "actual_end_pos": [ + -447.868, + -2240.7107, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -447.868, + -2240.7107, + 200.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + -447.868, + -2240.7107, + 200.0 + ], + "actual_end_pos": [ + -447.868, + -2240.7107, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -447.868, + -2240.7107, + 200.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + -447.868, + -2240.7107, + 200.0 + ], + "actual_end_pos": [ + -447.868, + -2240.7107, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -447.868, + -2240.7107, + 200.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + -377.7622, + -2310.8164, + 186.9474 + ], + "actual_end_pos": [ + -377.7622, + -2310.8164, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -377.7622, + -2310.8164, + 186.9474 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + -377.7622, + -2310.8164, + 186.9474 + ], + "actual_end_pos": [ + -377.7622, + -2310.8164, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -377.7622, + -2310.8164, + 186.9474 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + -307.6565, + -2380.9222, + 173.8948 + ], + "actual_end_pos": [ + -307.6565, + -2380.9222, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -307.6565, + -2380.9222, + 173.8948 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + -307.6565, + -2380.9222, + 173.8948 + ], + "actual_end_pos": [ + -307.6565, + -2380.9222, + 173.8948 + ], + "actual_end_rot": [ + 15.0, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -307.6565, + -2380.9222, + 173.8948 + ], + "start_rot": [ + 15.0, + 135.0, + -0.0 + ], + "expected_end_pos": [ + -307.6565, + -2380.9222, + 173.8948 + ], + "actual_end_pos": [ + -307.6565, + -2380.9222, + 173.8948 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -307.6565, + -2380.9222, + 173.8948 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -224.0049, + -2429.2185, + 148.0129 + ], + "actual_end_pos": [ + -224.0049, + -2429.2185, + 148.0129 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -224.0049, + -2429.2185, + 148.0129 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -174.0049, + -2342.6159, + 148.0129 + ], + "actual_end_pos": [ + -174.0049, + -2342.6159, + 148.0129 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -174.0049, + -2342.6159, + 148.0129 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -257.6565, + -2294.3196, + 173.8948 + ], + "actual_end_pos": [ + -257.6565, + -2294.3196, + 173.8948 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -257.6565, + -2294.3196, + 173.8948 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -307.6565, + -2380.9222, + 173.8948 + ], + "actual_end_pos": [ + -307.6565, + -2380.9222, + 173.8948 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -307.6565, + -2380.9222, + 173.8948 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -391.3081, + -2332.6259, + 199.7767 + ], + "actual_end_pos": [ + -391.3081, + -2332.6259, + 199.7767 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -391.3081, + -2332.6259, + 199.7767 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -391.3081, + -2332.6259, + 199.7767 + ], + "actual_end_pos": [ + -391.3081, + -2332.6259, + 199.7767 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -391.3081, + -2332.6259, + 199.7767 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -391.3081, + -2332.6259, + 199.7767 + ], + "actual_end_pos": [ + -391.3081, + -2332.6259, + 199.7767 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -391.3081, + -2332.6259, + 199.7767 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -461.4139, + -2262.5201, + 212.8293 + ], + "actual_end_pos": [ + -461.4139, + -2262.5201, + 212.8293 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -461.4139, + -2262.5201, + 212.8293 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -531.5196, + -2192.4144, + 225.8819 + ], + "actual_end_pos": [ + -531.5196, + -2192.4144, + 225.8819 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -531.5196, + -2192.4144, + 225.8819 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -601.6253, + -2122.3086, + 238.9345 + ], + "actual_end_pos": [ + -601.6253, + -2122.3086, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -601.6253, + -2122.3086, + 238.9345 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_pos": [ + -672.336, + -2193.0193, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_180248__traj_001767_meta.json b/loop_easy/run_20260408_180248__traj_001767_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b08b9756741bcfb03e462c72f399b56d5f5a9631 --- /dev/null +++ b/loop_easy/run_20260408_180248__traj_001767_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1767, + "episode_id": 0, + "state_id": 1301, + "sample_index": 1301, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 340.0, + -22170.0, + 200.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_right", + "move_backward", + "move_right", + "move_forward", + "move_left", + "look_up", + "move_forward", + "move_forward", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "look_down", + "look_down", + "turn_left", + "move_forward", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "look_up", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 340.0, + -22170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 340.0, + -22170.0, + 200.0 + ], + "actual_end_pos": [ + 340.0, + -22170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 340.0, + -22170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 426.6025, + -22220.0, + 200.0 + ], + "actual_end_pos": [ + 426.6025, + -22220.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 426.6025, + -22220.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 476.6025, + -22133.3975, + 200.0 + ], + "actual_end_pos": [ + 476.6025, + -22133.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 476.6025, + -22133.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 563.2051, + -22183.3975, + 200.0 + ], + "actual_end_pos": [ + 563.2051, + -22183.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 563.2051, + -22183.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 513.2051, + -22270.0, + 200.0 + ], + "actual_end_pos": [ + 513.2051, + -22270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 513.2051, + -22270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 426.6025, + -22220.0, + 200.0 + ], + "actual_end_pos": [ + 426.6025, + -22220.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 426.6025, + -22220.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 426.6025, + -22220.0, + 200.0 + ], + "actual_end_pos": [ + 426.6025, + -22220.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 426.6025, + -22220.0, + 200.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 377.0303, + -22305.8616, + 213.0526 + ], + "actual_end_pos": [ + 377.0303, + -22305.8616, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 377.0303, + -22305.8616, + 213.0526 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 327.4581, + -22391.7233, + 226.1052 + ], + "actual_end_pos": [ + 327.4581, + -22391.7233, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 327.4581, + -22391.7233, + 226.1052 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 414.0606, + -22441.7233, + 226.1052 + ], + "actual_end_pos": [ + 414.0606, + -22441.7233, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 414.0606, + -22441.7233, + 226.1052 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 500.6631, + -22491.7233, + 226.1052 + ], + "actual_end_pos": [ + 500.6631, + -22491.7233, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 500.6631, + -22491.7233, + 226.1052 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 500.6631, + -22491.7233, + 226.1052 + ], + "actual_end_pos": [ + 500.6631, + -22491.7233, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 500.6631, + -22491.7233, + 226.1052 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 500.6631, + -22491.7233, + 226.1052 + ], + "actual_end_pos": [ + 500.6631, + -22491.7233, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 500.6631, + -22491.7233, + 226.1052 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 500.6631, + -22491.7233, + 226.1052 + ], + "actual_end_pos": [ + 500.6631, + -22491.7233, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 500.6631, + -22491.7233, + 226.1052 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 475.0027, + -22395.9571, + 213.0526 + ], + "actual_end_pos": [ + 475.0027, + -22395.9571, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 475.0027, + -22395.9571, + 213.0526 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 475.0027, + -22395.9571, + 213.0526 + ], + "actual_end_pos": [ + 475.0027, + -22395.9571, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 475.0027, + -22395.9571, + 213.0526 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 475.0027, + -22395.9571, + 213.0526 + ], + "actual_end_pos": [ + 475.0027, + -22395.9571, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 475.0027, + -22395.9571, + 213.0526 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 475.0027, + -22395.9571, + 213.0526 + ], + "actual_end_pos": [ + 475.0027, + -22395.9571, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 475.0027, + -22395.9571, + 213.0526 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 475.0027, + -22495.1016, + 200.0 + ], + "actual_end_pos": [ + 475.0027, + -22495.1016, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 475.0027, + -22495.1016, + 200.0 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 575.0027, + -22495.1016, + 200.0 + ], + "actual_end_pos": [ + 575.0027, + -22495.1016, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 575.0027, + -22495.1016, + 200.0 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 675.0027, + -22495.1015, + 200.0 + ], + "actual_end_pos": [ + 675.0027, + -22495.1015, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 675.0027, + -22495.1015, + 200.0 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 675.0027, + -22495.1015, + 200.0 + ], + "actual_end_pos": [ + 675.0027, + -22495.1015, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 675.0027, + -22495.1015, + 200.0 + ], + "start_rot": [ + -7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 675.0027, + -22495.1015, + 200.0 + ], + "actual_end_pos": [ + 675.0027, + -22495.1015, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 675.0027, + -22495.1015, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 675.0027, + -22495.1015, + 200.0 + ], + "actual_end_pos": [ + 675.0027, + -22495.1015, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 675.0027, + -22495.1015, + 200.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 675.0027, + -22495.1015, + 200.0 + ], + "actual_end_pos": [ + 675.0027, + -22495.1015, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 675.0027, + -22495.1015, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 604.292, + -22424.3909, + 200.0 + ], + "actual_end_pos": [ + 604.292, + -22424.3909, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 604.292, + -22424.3909, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 533.5813, + -22353.6802, + 200.0 + ], + "actual_end_pos": [ + 533.5813, + -22353.6802, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 533.5813, + -22353.6802, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 462.8706, + -22282.9695, + 200.0 + ], + "actual_end_pos": [ + 462.8706, + -22282.9695, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 462.8706, + -22282.9695, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 392.1599, + -22212.2588, + 200.0 + ], + "actual_end_pos": [ + 392.1599, + -22212.2588, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 392.1599, + -22212.2588, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_pos": [ + 321.4493, + -22141.5482, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_180248__traj_002353_meta.json b/loop_easy/run_20260408_180248__traj_002353_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6621382c76d8bd639cd00227c91d91fad8c6e288 --- /dev/null +++ b/loop_easy/run_20260408_180248__traj_002353_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2353, + "episode_id": 0, + "state_id": 1734, + "sample_index": 1734, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2340.0, + -38170.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_right", + "turn_right", + "look_down", + "look_down", + "move_left", + "move_left", + "look_down", + "move_backward", + "turn_left", + "move_left", + "move_left", + "turn_left", + "move_backward", + "turn_left", + "move_forward", + "move_right", + "move_right", + "move_forward", + "move_right", + "move_right", + "turn_right", + "move_backward", + "turn_right", + "move_right", + "move_backward", + "move_left", + "look_up", + "look_up", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2340.0, + -38170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2340.0, + -38270.0, + 200.0 + ], + "actual_end_pos": [ + 2340.0, + -38270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2340.0, + -38270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2440.0, + -38270.0, + 200.0 + ], + "actual_end_pos": [ + 2440.0, + -38270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2440.0, + -38270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2440.0, + -38270.0, + 200.0 + ], + "actual_end_pos": [ + 2440.0, + -38270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2440.0, + -38270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2440.0, + -38270.0, + 200.0 + ], + "actual_end_pos": [ + 2440.0, + -38270.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2440.0, + -38270.0, + 200.0 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2440.0, + -38270.0, + 200.0 + ], + "actual_end_pos": [ + 2440.0, + -38270.0, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2440.0, + -38270.0, + 200.0 + ], + "start_rot": [ + -15.0, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 2343.4074, + -38295.8819, + 200.0 + ], + "actual_end_pos": [ + 2343.4074, + -38295.8819, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2343.4074, + -38295.8819, + 200.0 + ], + "start_rot": [ + -15.0, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 2246.8148, + -38321.7638, + 200.0 + ], + "actual_end_pos": [ + 2246.8148, + -38321.7638, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2246.8148, + -38321.7638, + 200.0 + ], + "start_rot": [ + -15.0, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 2246.8148, + -38321.7638, + 200.0 + ], + "actual_end_pos": [ + 2246.8148, + -38321.7638, + 200.0 + ], + "actual_end_rot": [ + -22.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2246.8148, + -38321.7638, + 200.0 + ], + "start_rot": [ + -22.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2222.9031, + -38232.5239, + 238.2683 + ], + "actual_end_pos": [ + 2222.9031, + -38232.5239, + 238.2683 + ], + "actual_end_rot": [ + -22.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2222.9031, + -38232.5239, + 238.2683 + ], + "start_rot": [ + -22.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2222.9031, + -38232.5239, + 238.2683 + ], + "actual_end_pos": [ + 2222.9031, + -38232.5239, + 238.2683 + ], + "actual_end_rot": [ + -22.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2222.9031, + -38232.5239, + 238.2683 + ], + "start_rot": [ + -22.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2122.9031, + -38232.5239, + 238.2683 + ], + "actual_end_pos": [ + 2122.9031, + -38232.5239, + 238.2683 + ], + "actual_end_rot": [ + -22.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2122.9031, + -38232.5239, + 238.2683 + ], + "start_rot": [ + -22.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2022.9031, + -38232.5239, + 238.2683 + ], + "actual_end_pos": [ + 2022.9031, + -38232.5239, + 238.2683 + ], + "actual_end_rot": [ + -22.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2022.9031, + -38232.5239, + 238.2683 + ], + "start_rot": [ + -22.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2022.9031, + -38232.5239, + 238.2683 + ], + "actual_end_pos": [ + 2022.9031, + -38232.5239, + 238.2683 + ], + "actual_end_rot": [ + -22.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2022.9031, + -38232.5239, + 238.2683 + ], + "start_rot": [ + -22.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 2046.8148, + -38143.284, + 276.5367 + ], + "actual_end_pos": [ + 2046.8148, + -38143.284, + 276.5367 + ], + "actual_end_rot": [ + -22.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2046.8148, + -38143.284, + 276.5367 + ], + "start_rot": [ + -22.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 2046.8148, + -38143.284, + 276.5367 + ], + "actual_end_pos": [ + 2046.8148, + -38143.284, + 276.5367 + ], + "actual_end_rot": [ + -22.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2046.8148, + -38143.284, + 276.5367 + ], + "start_rot": [ + -22.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2000.6209, + -38223.2943, + 238.2683 + ], + "actual_end_pos": [ + 2000.6209, + -38223.2943, + 238.2683 + ], + "actual_end_rot": [ + -22.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2000.6209, + -38223.2943, + 238.2683 + ], + "start_rot": [ + -22.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2087.2234, + -38273.2943, + 238.2683 + ], + "actual_end_pos": [ + 2087.2234, + -38273.2943, + 238.2683 + ], + "actual_end_rot": [ + -22.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2087.2234, + -38273.2943, + 238.2683 + ], + "start_rot": [ + -22.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2173.8259, + -38323.2943, + 238.2683 + ], + "actual_end_pos": [ + 2173.8259, + -38323.2943, + 238.2683 + ], + "actual_end_rot": [ + -22.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2173.8259, + -38323.2943, + 238.2683 + ], + "start_rot": [ + -22.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2127.632, + -38403.3046, + 200.0 + ], + "actual_end_pos": [ + 2127.632, + -38403.3046, + 200.0 + ], + "actual_end_rot": [ + -22.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2127.632, + -38403.3046, + 200.0 + ], + "start_rot": [ + -22.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2214.2345, + -38453.3046, + 200.0 + ], + "actual_end_pos": [ + 2214.2345, + -38453.3046, + 200.0 + ], + "actual_end_rot": [ + -22.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2214.2345, + -38453.3046, + 200.0 + ], + "start_rot": [ + -22.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2300.837, + -38503.3046, + 200.0 + ], + "actual_end_pos": [ + 2300.837, + -38503.3046, + 200.0 + ], + "actual_end_rot": [ + -22.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2300.837, + -38503.3046, + 200.0 + ], + "start_rot": [ + -22.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2300.837, + -38503.3046, + 200.0 + ], + "actual_end_pos": [ + 2300.837, + -38503.3046, + 200.0 + ], + "actual_end_rot": [ + -22.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2300.837, + -38503.3046, + 200.0 + ], + "start_rot": [ + -22.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2324.7488, + -38414.0647, + 238.2683 + ], + "actual_end_pos": [ + 2324.7488, + -38414.0647, + 238.2683 + ], + "actual_end_rot": [ + -22.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2324.7488, + -38414.0647, + 238.2683 + ], + "start_rot": [ + -22.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2324.7488, + -38414.0647, + 238.2683 + ], + "actual_end_pos": [ + 2324.7488, + -38414.0647, + 238.2683 + ], + "actual_end_rot": [ + -22.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2324.7488, + -38414.0647, + 238.2683 + ], + "start_rot": [ + -22.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2424.7488, + -38414.0647, + 238.2683 + ], + "actual_end_pos": [ + 2424.7488, + -38414.0647, + 238.2683 + ], + "actual_end_rot": [ + -22.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2424.7488, + -38414.0647, + 238.2683 + ], + "start_rot": [ + -22.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2424.7488, + -38321.6768, + 276.5367 + ], + "actual_end_pos": [ + 2424.7488, + -38321.6768, + 276.5367 + ], + "actual_end_rot": [ + -22.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2424.7488, + -38321.6768, + 276.5367 + ], + "start_rot": [ + -22.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2324.7488, + -38321.6768, + 276.5367 + ], + "actual_end_pos": [ + 2324.7488, + -38321.6768, + 276.5367 + ], + "actual_end_rot": [ + -22.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2324.7488, + -38321.6768, + 276.5367 + ], + "start_rot": [ + -22.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2324.7488, + -38321.6768, + 276.5367 + ], + "actual_end_pos": [ + 2324.7488, + -38321.6768, + 276.5367 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2324.7488, + -38321.6768, + 276.5367 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2324.7488, + -38321.6768, + 276.5367 + ], + "actual_end_pos": [ + 2324.7488, + -38321.6768, + 276.5367 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2324.7488, + -38321.6768, + 276.5367 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2324.7488, + -38222.5323, + 289.5893 + ], + "actual_end_pos": [ + 2324.7488, + -38222.5323, + 289.5893 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2324.7488, + -38222.5323, + 289.5893 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "actual_end_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "actual_end_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "actual_end_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "actual_end_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "actual_end_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "actual_end_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "actual_end_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "actual_end_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "actual_end_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "actual_end_pos": [ + 2324.7488, + -38123.3878, + 302.6419 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_180248__traj_002432_meta.json b/loop_easy/run_20260408_180248__traj_002432_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4afb12219e9d9f244b99ab56738e43d74db67b2f --- /dev/null +++ b/loop_easy/run_20260408_180248__traj_002432_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2432, + "episode_id": 0, + "state_id": 1794, + "sample_index": 1794, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2340.0, + -22170.0, + 200.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "turn_left", + "move_forward", + "turn_left", + "move_left", + "move_forward", + "move_forward", + "turn_right", + "move_left", + "move_left", + "move_backward", + "look_down", + "move_forward", + "move_right", + "move_right", + "turn_right", + "turn_right", + "look_up", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2340.0, + -22170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2340.0, + -22170.0, + 200.0 + ], + "actual_end_pos": [ + 2340.0, + -22170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2340.0, + -22170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2340.0, + -22170.0, + 200.0 + ], + "actual_end_pos": [ + 2340.0, + -22170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2340.0, + -22170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2390.0, + -22083.3975, + 200.0 + ], + "actual_end_pos": [ + 2390.0, + -22083.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2390.0, + -22083.3975, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2390.0, + -22083.3975, + 200.0 + ], + "actual_end_pos": [ + 2390.0, + -22083.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2390.0, + -22083.3975, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2460.7107, + -22154.1081, + 200.0 + ], + "actual_end_pos": [ + 2460.7107, + -22154.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2460.7107, + -22154.1081, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2531.4214, + -22083.3975, + 200.0 + ], + "actual_end_pos": [ + 2531.4214, + -22083.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2531.4214, + -22083.3975, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2602.132, + -22012.6868, + 200.0 + ], + "actual_end_pos": [ + 2602.132, + -22012.6868, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2602.132, + -22012.6868, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2602.132, + -22012.6868, + 200.0 + ], + "actual_end_pos": [ + 2602.132, + -22012.6868, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2602.132, + -22012.6868, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2688.7346, + -22062.6868, + 200.0 + ], + "actual_end_pos": [ + 2688.7346, + -22062.6868, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2688.7346, + -22062.6868, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2775.3371, + -22112.6868, + 200.0 + ], + "actual_end_pos": [ + 2775.3371, + -22112.6868, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2775.3371, + -22112.6868, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2725.3371, + -22199.2893, + 200.0 + ], + "actual_end_pos": [ + 2725.3371, + -22199.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2725.3371, + -22199.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2725.3371, + -22199.2893, + 200.0 + ], + "actual_end_pos": [ + 2725.3371, + -22199.2893, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2725.3371, + -22199.2893, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2774.9094, + -22113.4277, + 186.9474 + ], + "actual_end_pos": [ + 2774.9094, + -22113.4277, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2774.9094, + -22113.4277, + 186.9474 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2688.3068, + -22063.4277, + 186.9474 + ], + "actual_end_pos": [ + 2688.3068, + -22063.4277, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2688.3068, + -22063.4277, + 186.9474 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2601.7043, + -22013.4277, + 186.9474 + ], + "actual_end_pos": [ + 2601.7043, + -22013.4277, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2601.7043, + -22013.4277, + 186.9474 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2601.7043, + -22013.4277, + 186.9474 + ], + "actual_end_pos": [ + 2601.7043, + -22013.4277, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2601.7043, + -22013.4277, + 186.9474 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2601.7043, + -22013.4277, + 186.9474 + ], + "actual_end_pos": [ + 2601.7043, + -22013.4277, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2601.7043, + -22013.4277, + 186.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2601.7043, + -22013.4277, + 186.9474 + ], + "actual_end_pos": [ + 2601.7043, + -22013.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2601.7043, + -22013.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2601.7043, + -22113.4277, + 186.9474 + ], + "actual_end_pos": [ + 2601.7043, + -22113.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2601.7043, + -22113.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2601.7043, + -22213.4277, + 186.9474 + ], + "actual_end_pos": [ + 2601.7043, + -22213.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2601.7043, + -22213.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2501.7043, + -22213.4277, + 186.9474 + ], + "actual_end_pos": [ + 2501.7043, + -22213.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2501.7043, + -22213.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2401.7043, + -22213.4277, + 186.9474 + ], + "actual_end_pos": [ + 2401.7043, + -22213.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2401.7043, + -22213.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_pos": [ + 2301.7043, + -22213.4277, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_180248__traj_002574_meta.json b/loop_easy/run_20260408_180248__traj_002574_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f9f9847943efb9d3efdbc4b6b21bef3eba40ff48 --- /dev/null +++ b/loop_easy/run_20260408_180248__traj_002574_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2574, + "episode_id": 0, + "state_id": 1902, + "sample_index": 1902, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2340.0, + -3170.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_left", + "move_backward", + "move_right", + "move_right", + "move_forward", + "look_up", + "move_forward", + "look_down", + "turn_right", + "turn_right", + "move_right", + "move_forward", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2340.0, + -3170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2340.0, + -3270.0, + 200.0 + ], + "actual_end_pos": [ + 2340.0, + -3270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2340.0, + -3270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2240.0, + -3270.0, + 200.0 + ], + "actual_end_pos": [ + 2240.0, + -3270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2240.0, + -3270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2240.0, + -3170.0, + 200.0 + ], + "actual_end_pos": [ + 2240.0, + -3170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2240.0, + -3170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2340.0, + -3170.0, + 200.0 + ], + "actual_end_pos": [ + 2340.0, + -3170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2340.0, + -3170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2440.0, + -3170.0, + 200.0 + ], + "actual_end_pos": [ + 2440.0, + -3170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2440.0, + -3170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2440.0, + -3270.0, + 200.0 + ], + "actual_end_pos": [ + 2440.0, + -3270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2440.0, + -3270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2440.0, + -3270.0, + 200.0 + ], + "actual_end_pos": [ + 2440.0, + -3270.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2440.0, + -3270.0, + 200.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2440.0, + -3369.1445, + 213.0526 + ], + "actual_end_pos": [ + 2440.0, + -3369.1445, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2440.0, + -3369.1445, + 213.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2440.0, + -3369.1445, + 213.0526 + ], + "actual_end_pos": [ + 2440.0, + -3369.1445, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2440.0, + -3369.1445, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 2440.0, + -3369.1445, + 213.0526 + ], + "actual_end_pos": [ + 2440.0, + -3369.1445, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2440.0, + -3369.1445, + 213.0526 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2440.0, + -3369.1445, + 213.0526 + ], + "actual_end_pos": [ + 2440.0, + -3369.1445, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2440.0, + -3369.1445, + 213.0526 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2526.6025, + -3319.1445, + 213.0526 + ], + "actual_end_pos": [ + 2526.6025, + -3319.1445, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2526.6025, + -3319.1445, + 213.0526 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2576.6025, + -3405.747, + 213.0526 + ], + "actual_end_pos": [ + 2576.6025, + -3405.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2576.6025, + -3405.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2576.6025, + -3405.747, + 213.0526 + ], + "actual_end_pos": [ + 2576.6025, + -3405.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2576.6025, + -3405.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 2576.6025, + -3405.747, + 213.0526 + ], + "actual_end_pos": [ + 2576.6025, + -3405.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2576.6025, + -3405.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2663.2051, + -3455.747, + 213.0526 + ], + "actual_end_pos": [ + 2663.2051, + -3455.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2663.2051, + -3455.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2749.8076, + -3505.747, + 213.0526 + ], + "actual_end_pos": [ + 2749.8076, + -3505.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2749.8076, + -3505.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2749.8076, + -3505.747, + 213.0526 + ], + "actual_end_pos": [ + 2749.8076, + -3505.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2749.8076, + -3505.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2749.8076, + -3505.747, + 213.0526 + ], + "actual_end_pos": [ + 2749.8076, + -3505.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2749.8076, + -3505.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -60.0, + -0.0 + ], + "expected_end_pos": [ + 2749.8076, + -3505.747, + 213.0526 + ], + "actual_end_pos": [ + 2749.8076, + -3505.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2749.8076, + -3505.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2749.8076, + -3505.747, + 213.0526 + ], + "actual_end_pos": [ + 2749.8076, + -3505.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2749.8076, + -3505.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2749.8076, + -3405.747, + 213.0526 + ], + "actual_end_pos": [ + 2749.8076, + -3405.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2749.8076, + -3405.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2749.8076, + -3305.747, + 213.0526 + ], + "actual_end_pos": [ + 2749.8076, + -3305.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2749.8076, + -3305.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2749.8076, + -3205.747, + 213.0526 + ], + "actual_end_pos": [ + 2749.8076, + -3205.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2749.8076, + -3205.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2649.8076, + -3205.747, + 213.0526 + ], + "actual_end_pos": [ + 2649.8076, + -3205.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2649.8076, + -3205.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2549.8076, + -3205.747, + 213.0526 + ], + "actual_end_pos": [ + 2549.8076, + -3205.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2549.8076, + -3205.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2449.8076, + -3205.747, + 213.0526 + ], + "actual_end_pos": [ + 2449.8076, + -3205.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2449.8076, + -3205.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_pos": [ + 2349.8076, + -3205.747, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_180248__traj_002936_meta.json b/loop_easy/run_20260408_180248__traj_002936_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4dcda0f7cecc5a351f9bf22f0582924e520b501e --- /dev/null +++ b/loop_easy/run_20260408_180248__traj_002936_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2936, + "episode_id": 0, + "state_id": 2167, + "sample_index": 2167, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 3340.0, + 830.0, + 200.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "move_forward", + "turn_left", + "move_right", + "move_right", + "turn_left", + "look_up", + "move_right", + "move_right", + "turn_left", + "move_backward", + "turn_right", + "move_right", + "look_down", + "move_right", + "look_down", + "no_op", + "move_right", + "look_up", + "move_left", + "move_forward", + "look_up", + "move_right", + "move_right", + "move_forward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3340.0, + 830.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3340.0, + 830.0, + 200.0 + ], + "actual_end_pos": [ + 3340.0, + 830.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3340.0, + 830.0, + 200.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3410.1057, + 759.8943, + 186.9474 + ], + "actual_end_pos": [ + 3410.1057, + 759.8943, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3410.1057, + 759.8943, + 186.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3410.1057, + 759.8943, + 186.9474 + ], + "actual_end_pos": [ + 3410.1057, + 759.8943, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3410.1057, + 759.8943, + 186.9474 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 3496.7083, + 809.8943, + 186.9474 + ], + "actual_end_pos": [ + 3496.7083, + 809.8943, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3496.7083, + 809.8943, + 186.9474 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 3583.3108, + 859.8943, + 186.9474 + ], + "actual_end_pos": [ + 3583.3108, + 859.8943, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3583.3108, + 859.8943, + 186.9474 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 3583.3108, + 859.8943, + 186.9474 + ], + "actual_end_pos": [ + 3583.3108, + 859.8943, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3583.3108, + 859.8943, + 186.9474 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 3583.3108, + 859.8943, + 186.9474 + ], + "actual_end_pos": [ + 3583.3108, + 859.8943, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3583.3108, + 859.8943, + 186.9474 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 3679.9034, + 885.7762, + 186.9474 + ], + "actual_end_pos": [ + 3679.9034, + 885.7762, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3679.9034, + 885.7762, + 186.9474 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 3776.496, + 911.6581, + 186.9474 + ], + "actual_end_pos": [ + 3776.496, + 911.6581, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3776.496, + 911.6581, + 186.9474 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 3776.496, + 911.6581, + 186.9474 + ], + "actual_end_pos": [ + 3776.496, + 911.6581, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3776.496, + 911.6581, + 186.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 3776.496, + 1011.6581, + 186.9474 + ], + "actual_end_pos": [ + 3776.496, + 1011.6581, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3776.496, + 1011.6581, + 186.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 3776.496, + 1011.6581, + 186.9474 + ], + "actual_end_pos": [ + 3776.496, + 1011.6581, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3776.496, + 1011.6581, + 186.9474 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 3873.0886, + 1037.54, + 186.9474 + ], + "actual_end_pos": [ + 3873.0886, + 1037.54, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3873.0886, + 1037.54, + 186.9474 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 3873.0886, + 1037.54, + 186.9474 + ], + "actual_end_pos": [ + 3873.0886, + 1037.54, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3873.0886, + 1037.54, + 186.9474 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 3969.6811, + 1063.4219, + 186.9474 + ], + "actual_end_pos": [ + 3969.6811, + 1063.4219, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3969.6811, + 1063.4219, + 186.9474 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 3969.6811, + 1063.4219, + 186.9474 + ], + "actual_end_pos": [ + 3969.6811, + 1063.4219, + 186.9474 + ], + "actual_end_rot": [ + -15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3969.6811, + 1063.4219, + 186.9474 + ], + "start_rot": [ + -15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 3969.6811, + 1063.4219, + 186.9474 + ], + "actual_end_pos": [ + 3969.6811, + 1063.4219, + 186.9474 + ], + "actual_end_rot": [ + -15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3969.6811, + 1063.4219, + 186.9474 + ], + "start_rot": [ + -15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4066.2737, + 1089.3038, + 186.9474 + ], + "actual_end_pos": [ + 4066.2737, + 1089.3038, + 186.9474 + ], + "actual_end_rot": [ + -15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4066.2737, + 1089.3038, + 186.9474 + ], + "start_rot": [ + -15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4066.2737, + 1089.3038, + 186.9474 + ], + "actual_end_pos": [ + 4066.2737, + 1089.3038, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4066.2737, + 1089.3038, + 186.9474 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 3969.6811, + 1063.4219, + 186.9474 + ], + "actual_end_pos": [ + 3969.6811, + 1063.4219, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3969.6811, + 1063.4219, + 186.9474 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 3995.3416, + 967.6557, + 173.8948 + ], + "actual_end_pos": [ + 3995.3416, + 967.6557, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3995.3416, + 967.6557, + 173.8948 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 3995.3416, + 967.6557, + 173.8948 + ], + "actual_end_pos": [ + 3995.3416, + 967.6557, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3995.3416, + 967.6557, + 173.8948 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4091.9342, + 993.5376, + 173.8948 + ], + "actual_end_pos": [ + 4091.9342, + 993.5376, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4091.9342, + 993.5376, + 173.8948 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4188.5268, + 1019.4195, + 173.8948 + ], + "actual_end_pos": [ + 4188.5268, + 1019.4195, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4188.5268, + 1019.4195, + 173.8948 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4214.4087, + 922.8269, + 173.8948 + ], + "actual_end_pos": [ + 4214.4087, + 922.8269, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4214.4087, + 922.8269, + 173.8948 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4214.4087, + 922.8269, + 173.8948 + ], + "actual_end_pos": [ + 4214.4087, + 922.8269, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4214.4087, + 922.8269, + 173.8948 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4214.4087, + 922.8269, + 173.8948 + ], + "actual_end_pos": [ + 4214.4087, + 922.8269, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4214.4087, + 922.8269, + 173.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4143.698, + 993.5376, + 173.8948 + ], + "actual_end_pos": [ + 4143.698, + 993.5376, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4143.698, + 993.5376, + 173.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4072.9873, + 1064.2482, + 173.8948 + ], + "actual_end_pos": [ + 4072.9873, + 1064.2482, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4072.9873, + 1064.2482, + 173.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4002.2767, + 1134.9589, + 173.8948 + ], + "actual_end_pos": [ + 4002.2767, + 1134.9589, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4002.2767, + 1134.9589, + 173.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3931.566, + 1205.6696, + 173.8948 + ], + "actual_end_pos": [ + 3931.566, + 1205.6696, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3931.566, + 1205.6696, + 173.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3860.8553, + 1276.3803, + 173.8948 + ], + "actual_end_pos": [ + 3860.8553, + 1276.3803, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3860.8553, + 1276.3803, + 173.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3790.1446, + 1347.091, + 173.8948 + ], + "actual_end_pos": [ + 3790.1446, + 1347.091, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3790.1446, + 1347.091, + 173.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3719.434, + 1276.3803, + 173.8948 + ], + "actual_end_pos": [ + 3719.434, + 1276.3803, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3719.434, + 1276.3803, + 173.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3648.7233, + 1205.6696, + 173.8948 + ], + "actual_end_pos": [ + 3648.7233, + 1205.6696, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3648.7233, + 1205.6696, + 173.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3578.0126, + 1134.9589, + 173.8948 + ], + "actual_end_pos": [ + 3578.0126, + 1134.9589, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3578.0126, + 1134.9589, + 173.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3507.3019, + 1064.2482, + 173.8948 + ], + "actual_end_pos": [ + 3507.3019, + 1064.2482, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3507.3019, + 1064.2482, + 173.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3436.5912, + 993.5376, + 173.8948 + ], + "actual_end_pos": [ + 3436.5912, + 993.5376, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3436.5912, + 993.5376, + 173.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3365.8806, + 922.8269, + 173.8948 + ], + "actual_end_pos": [ + 3365.8806, + 922.8269, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3365.8806, + 922.8269, + 173.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3295.1699, + 852.1162, + 173.8948 + ], + "actual_end_pos": [ + 3295.1699, + 852.1162, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_180248__traj_003920_meta.json b/loop_easy/run_20260408_180248__traj_003920_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c520f85086f335bac737029415b524a1e8a727b2 --- /dev/null +++ b/loop_easy/run_20260408_180248__traj_003920_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3920, + "episode_id": 0, + "state_id": 2909, + "sample_index": 2909, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 7340.0, + -36170.0, + 200.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "move_backward", + "turn_right", + "look_up", + "move_left", + "move_left", + "turn_right", + "move_forward", + "move_right", + "move_right", + "look_up", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "move_left", + "turn_right", + "move_forward", + "no_op", + "look_up", + "move_forward", + "look_up", + "look_up", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "look_down", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 7340.0, + -36170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 7340.0, + -36170.0, + 200.0 + ], + "actual_end_pos": [ + 7340.0, + -36170.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7340.0, + -36170.0, + 200.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 7410.1057, + -36099.8943, + 213.0526 + ], + "actual_end_pos": [ + 7410.1057, + -36099.8943, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 7410.1057, + -36099.8943, + 213.0526 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 7410.1057, + -36099.8943, + 213.0526 + ], + "actual_end_pos": [ + 7410.1057, + -36099.8943, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 7410.1057, + -36099.8943, + 213.0526 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 7410.1057, + -36099.8943, + 213.0526 + ], + "actual_end_pos": [ + 7410.1057, + -36099.8943, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7410.1057, + -36099.8943, + 213.0526 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7323.5032, + -36049.8943, + 213.0526 + ], + "actual_end_pos": [ + 7323.5032, + -36049.8943, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7323.5032, + -36049.8943, + 213.0526 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7236.9007, + -35999.8943, + 213.0526 + ], + "actual_end_pos": [ + 7236.9007, + -35999.8943, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 7236.9007, + -35999.8943, + 213.0526 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7236.9007, + -35999.8943, + 213.0526 + ], + "actual_end_pos": [ + 7236.9007, + -35999.8943, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7236.9007, + -35999.8943, + 213.0526 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 7211.0188, + -36096.4868, + 213.0526 + ], + "actual_end_pos": [ + 7211.0188, + -36096.4868, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7211.0188, + -36096.4868, + 213.0526 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 7307.6113, + -36122.3687, + 213.0526 + ], + "actual_end_pos": [ + 7307.6113, + -36122.3687, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7307.6113, + -36122.3687, + 213.0526 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 7404.2039, + -36148.2507, + 213.0526 + ], + "actual_end_pos": [ + 7404.2039, + -36148.2507, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 7404.2039, + -36148.2507, + 213.0526 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 7404.2039, + -36148.2507, + 213.0526 + ], + "actual_end_pos": [ + 7404.2039, + -36148.2507, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 7404.2039, + -36148.2507, + 213.0526 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 7404.2039, + -36148.2507, + 213.0526 + ], + "actual_end_pos": [ + 7404.2039, + -36148.2507, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7404.2039, + -36148.2507, + 213.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7404.2039, + -36247.3951, + 226.1052 + ], + "actual_end_pos": [ + 7404.2039, + -36247.3951, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7404.2039, + -36247.3951, + 226.1052 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7404.2039, + -36346.5396, + 239.1579 + ], + "actual_end_pos": [ + 7404.2039, + -36346.5396, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7404.2039, + -36346.5396, + 239.1579 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7404.2039, + -36445.6841, + 252.2105 + ], + "actual_end_pos": [ + 7404.2039, + -36445.6841, + 252.2105 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7404.2039, + -36445.6841, + 252.2105 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7304.2039, + -36445.6841, + 252.2105 + ], + "actual_end_pos": [ + 7304.2039, + -36445.6841, + 252.2105 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7304.2039, + -36445.6841, + 252.2105 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7204.2039, + -36445.6841, + 252.2105 + ], + "actual_end_pos": [ + 7204.2039, + -36445.6841, + 252.2105 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 7204.2039, + -36445.6841, + 252.2105 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7204.2039, + -36445.6841, + 252.2105 + ], + "actual_end_pos": [ + 7204.2039, + -36445.6841, + 252.2105 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7204.2039, + -36445.6841, + 252.2105 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 7229.8644, + -36541.4503, + 265.2631 + ], + "actual_end_pos": [ + 7229.8644, + -36541.4503, + 265.2631 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7229.8644, + -36541.4503, + 265.2631 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 7229.8644, + -36541.4503, + 265.2631 + ], + "actual_end_pos": [ + 7229.8644, + -36541.4503, + 265.2631 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 7229.8644, + -36541.4503, + 265.2631 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 7229.8644, + -36541.4503, + 265.2631 + ], + "actual_end_pos": [ + 7229.8644, + -36541.4503, + 265.2631 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7229.8644, + -36541.4503, + 265.2631 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 7254.8644, + -36634.7516, + 291.145 + ], + "actual_end_pos": [ + 7254.8644, + -36634.7516, + 291.145 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 7254.8644, + -36634.7516, + 291.145 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 7254.8644, + -36634.7516, + 291.145 + ], + "actual_end_pos": [ + 7254.8644, + -36634.7516, + 291.145 + ], + "actual_end_rot": [ + 22.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 7254.8644, + -36634.7516, + 291.145 + ], + "start_rot": [ + 22.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 7254.8644, + -36634.7516, + 291.145 + ], + "actual_end_pos": [ + 7254.8644, + -36634.7516, + 291.145 + ], + "actual_end_rot": [ + 30.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7254.8644, + -36634.7516, + 291.145 + ], + "start_rot": [ + 30.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 7158.2718, + -36660.6335, + 291.145 + ], + "actual_end_pos": [ + 7158.2718, + -36660.6335, + 291.145 + ], + "actual_end_rot": [ + 30.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 7158.2718, + -36660.6335, + 291.145 + ], + "start_rot": [ + 30.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 7158.2718, + -36660.6335, + 291.145 + ], + "actual_end_pos": [ + 7158.2718, + -36660.6335, + 291.145 + ], + "actual_end_rot": [ + 30.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 7158.2718, + -36660.6335, + 291.145 + ], + "start_rot": [ + 30.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7158.2718, + -36660.6335, + 291.145 + ], + "actual_end_pos": [ + 7158.2718, + -36660.6335, + 291.145 + ], + "actual_end_rot": [ + 30.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 7158.2718, + -36660.6335, + 291.145 + ], + "start_rot": [ + 30.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 7158.2718, + -36660.6335, + 291.145 + ], + "actual_end_pos": [ + 7158.2718, + -36660.6335, + 291.145 + ], + "actual_end_rot": [ + 30.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 7158.2718, + -36660.6335, + 291.145 + ], + "start_rot": [ + 30.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7158.2718, + -36660.6335, + 291.145 + ], + "actual_end_pos": [ + 7158.2718, + -36660.6335, + 291.145 + ], + "actual_end_rot": [ + 30.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 7158.2718, + -36660.6335, + 291.145 + ], + "start_rot": [ + 30.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 7158.2718, + -36660.6335, + 291.145 + ], + "actual_end_pos": [ + 7158.2718, + -36660.6335, + 291.145 + ], + "actual_end_rot": [ + 22.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 7158.2718, + -36660.6335, + 291.145 + ], + "start_rot": [ + 22.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 7158.2718, + -36660.6335, + 291.145 + ], + "actual_end_pos": [ + 7158.2718, + -36660.6335, + 291.145 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7158.2718, + -36660.6335, + 291.145 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 7226.5731, + -36592.3322, + 265.2631 + ], + "actual_end_pos": [ + 7226.5731, + -36592.3322, + 265.2631 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7226.5731, + -36592.3322, + 265.2631 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 7294.8744, + -36524.031, + 239.3812 + ], + "actual_end_pos": [ + 7294.8744, + -36524.031, + 239.3812 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7294.8744, + -36524.031, + 239.3812 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 7363.1756, + -36455.7297, + 213.4993 + ], + "actual_end_pos": [ + 7363.1756, + -36455.7297, + 213.4993 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7363.1756, + -36455.7297, + 213.4993 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 7431.4769, + -36387.4284, + 187.6174 + ], + "actual_end_pos": [ + 7431.4769, + -36387.4284, + 187.6174 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7431.4769, + -36387.4284, + 187.6174 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 7499.7782, + -36319.1272, + 161.7355 + ], + "actual_end_pos": [ + 7499.7782, + -36319.1272, + 161.7355 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7499.7782, + -36319.1272, + 161.7355 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 7429.0675, + -36248.4165, + 161.7355 + ], + "actual_end_pos": [ + 7429.0675, + -36248.4165, + 161.7355 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7429.0675, + -36248.4165, + 161.7355 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 7358.3568, + -36177.7058, + 161.7355 + ], + "actual_end_pos": [ + 7358.3568, + -36177.7058, + 161.7355 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7358.3568, + -36177.7058, + 161.7355 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 7358.3568, + -36177.7058, + 161.7355 + ], + "actual_end_pos": [ + 7358.3568, + -36177.7058, + 161.7355 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7358.3568, + -36177.7058, + 161.7355 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 7358.3568, + -36177.7058, + 161.7355 + ], + "actual_end_pos": [ + 7358.3568, + -36177.7058, + 161.7355 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_180248__traj_003971_meta.json b/loop_easy/run_20260408_180248__traj_003971_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6a0df90e7b975cc13c99ae30ce104328e2b87a39 --- /dev/null +++ b/loop_easy/run_20260408_180248__traj_003971_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3971, + "episode_id": 0, + "state_id": 2948, + "sample_index": 2948, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 7340.0, + -23170.0, + 200.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "no_op", + "turn_right", + "move_left", + "move_backward", + "move_left", + "look_down", + "move_right", + "look_up", + "turn_left", + "turn_right", + "move_left", + "move_forward", + "no_op", + "turn_left", + "move_left", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "move_left", + "move_left", + "move_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7340.0, + -23170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7240.0, + -23170.0, + 200.0 + ], + "actual_end_pos": [ + 7240.0, + -23170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7240.0, + -23170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7240.0, + -23170.0, + 200.0 + ], + "actual_end_pos": [ + 7240.0, + -23170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 7240.0, + -23170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7240.0, + -23170.0, + 200.0 + ], + "actual_end_pos": [ + 7240.0, + -23170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7240.0, + -23170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 7214.1181, + -23073.4074, + 200.0 + ], + "actual_end_pos": [ + 7214.1181, + -23073.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7214.1181, + -23073.4074, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 7310.7107, + -23047.5255, + 200.0 + ], + "actual_end_pos": [ + 7310.7107, + -23047.5255, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7310.7107, + -23047.5255, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 7284.8288, + -22950.9329, + 200.0 + ], + "actual_end_pos": [ + 7284.8288, + -22950.9329, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 7284.8288, + -22950.9329, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 7284.8288, + -22950.9329, + 200.0 + ], + "actual_end_pos": [ + 7284.8288, + -22950.9329, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7284.8288, + -22950.9329, + 200.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 7310.7107, + -23047.5255, + 200.0 + ], + "actual_end_pos": [ + 7310.7107, + -23047.5255, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 7310.7107, + -23047.5255, + 200.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 7310.7107, + -23047.5255, + 200.0 + ], + "actual_end_pos": [ + 7310.7107, + -23047.5255, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 7310.7107, + -23047.5255, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 7310.7107, + -23047.5255, + 200.0 + ], + "actual_end_pos": [ + 7310.7107, + -23047.5255, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 7310.7107, + -23047.5255, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7310.7107, + -23047.5255, + 200.0 + ], + "actual_end_pos": [ + 7310.7107, + -23047.5255, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7310.7107, + -23047.5255, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 7284.8288, + -22950.9329, + 200.0 + ], + "actual_end_pos": [ + 7284.8288, + -22950.9329, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7284.8288, + -22950.9329, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 7188.2362, + -22976.8148, + 200.0 + ], + "actual_end_pos": [ + 7188.2362, + -22976.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7188.2362, + -22976.8148, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 7188.2362, + -22976.8148, + 200.0 + ], + "actual_end_pos": [ + 7188.2362, + -22976.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 7188.2362, + -22976.8148, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 7188.2362, + -22976.8148, + 200.0 + ], + "actual_end_pos": [ + 7188.2362, + -22976.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7188.2362, + -22976.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7188.2362, + -22876.8148, + 200.0 + ], + "actual_end_pos": [ + 7188.2362, + -22876.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7188.2362, + -22876.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7088.2362, + -22876.8148, + 200.0 + ], + "actual_end_pos": [ + 7088.2362, + -22876.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7088.2362, + -22876.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 6988.2362, + -22876.8148, + 200.0 + ], + "actual_end_pos": [ + 6988.2362, + -22876.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 6988.2362, + -22876.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 6988.2362, + -22776.8148, + 200.0 + ], + "actual_end_pos": [ + 6988.2362, + -22776.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 6988.2362, + -22776.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 6888.2362, + -22776.8148, + 200.0 + ], + "actual_end_pos": [ + 6888.2362, + -22776.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 6888.2362, + -22776.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 6888.2362, + -22676.8148, + 200.0 + ], + "actual_end_pos": [ + 6888.2362, + -22676.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 6888.2362, + -22676.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 6888.2362, + -22576.8148, + 200.0 + ], + "actual_end_pos": [ + 6888.2362, + -22576.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 6888.2362, + -22576.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 6888.2362, + -22476.8148, + 200.0 + ], + "actual_end_pos": [ + 6888.2362, + -22476.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 6888.2362, + -22476.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 6988.2362, + -22476.8148, + 200.0 + ], + "actual_end_pos": [ + 6988.2362, + -22476.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 6988.2362, + -22476.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7088.2362, + -22476.8148, + 200.0 + ], + "actual_end_pos": [ + 7088.2362, + -22476.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7088.2362, + -22476.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7188.2362, + -22476.8148, + 200.0 + ], + "actual_end_pos": [ + 7188.2362, + -22476.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7188.2362, + -22476.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7288.2362, + -22476.8148, + 200.0 + ], + "actual_end_pos": [ + 7288.2362, + -22476.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7288.2362, + -22476.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7388.2362, + -22476.8148, + 200.0 + ], + "actual_end_pos": [ + 7388.2362, + -22476.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7388.2362, + -22476.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7388.2362, + -22576.8148, + 200.0 + ], + "actual_end_pos": [ + 7388.2362, + -22576.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7388.2362, + -22576.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7388.2362, + -22676.8148, + 200.0 + ], + "actual_end_pos": [ + 7388.2362, + -22676.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7388.2362, + -22676.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7388.2362, + -22776.8148, + 200.0 + ], + "actual_end_pos": [ + 7388.2362, + -22776.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7388.2362, + -22776.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7388.2362, + -22876.8148, + 200.0 + ], + "actual_end_pos": [ + 7388.2362, + -22876.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7388.2362, + -22876.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7388.2362, + -22976.8148, + 200.0 + ], + "actual_end_pos": [ + 7388.2362, + -22976.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7388.2362, + -22976.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7388.2362, + -23076.8148, + 200.0 + ], + "actual_end_pos": [ + 7388.2362, + -23076.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7388.2362, + -23076.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7388.2362, + -23176.8148, + 200.0 + ], + "actual_end_pos": [ + 7388.2362, + -23176.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7388.2362, + -23176.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7388.2362, + -23176.8148, + 200.0 + ], + "actual_end_pos": [ + 7388.2362, + -23176.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7388.2362, + -23176.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7388.2362, + -23176.8148, + 200.0 + ], + "actual_end_pos": [ + 7388.2362, + -23176.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7388.2362, + -23176.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7388.2362, + -23176.8148, + 200.0 + ], + "actual_end_pos": [ + 7388.2362, + -23176.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7388.2362, + -23176.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7388.2362, + -23176.8148, + 200.0 + ], + "actual_end_pos": [ + 7388.2362, + -23176.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7388.2362, + -23176.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7388.2362, + -23176.8148, + 200.0 + ], + "actual_end_pos": [ + 7388.2362, + -23176.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_180248__traj_004112_meta.json b/loop_easy/run_20260408_180248__traj_004112_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8c52145cc11776cd38ca9c4768a907095753f914 --- /dev/null +++ b/loop_easy/run_20260408_180248__traj_004112_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4112, + "episode_id": 0, + "state_id": 3052, + "sample_index": 3052, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 7340.0, + -6170.0, + 200.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "turn_left", + "move_left", + "move_left", + "look_up", + "move_forward", + "move_right", + "move_backward", + "turn_left", + "look_down", + "move_forward", + "move_right", + "no_op", + "look_down", + "turn_right", + "turn_right", + "move_left", + "look_up", + "move_backward", + "move_left", + "move_backward", + "turn_left", + "move_forward", + "move_forward", + "move_left", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 7340.0, + -6170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7340.0, + -6170.0, + 200.0 + ], + "actual_end_pos": [ + 7340.0, + -6170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 7340.0, + -6170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 7340.0, + -6170.0, + 200.0 + ], + "actual_end_pos": [ + 7340.0, + -6170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7340.0, + -6170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 7390.0, + -6083.3975, + 200.0 + ], + "actual_end_pos": [ + 7390.0, + -6083.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7390.0, + -6083.3975, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 7440.0, + -5996.7949, + 200.0 + ], + "actual_end_pos": [ + 7440.0, + -5996.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 7440.0, + -5996.7949, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 7440.0, + -5996.7949, + 200.0 + ], + "actual_end_pos": [ + 7440.0, + -5996.7949, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7440.0, + -5996.7949, + 200.0 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 7354.1384, + -5947.2227, + 213.0526 + ], + "actual_end_pos": [ + 7354.1384, + -5947.2227, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7354.1384, + -5947.2227, + 213.0526 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 7304.1384, + -6033.8252, + 213.0526 + ], + "actual_end_pos": [ + 7304.1384, + -6033.8252, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7304.1384, + -6033.8252, + 213.0526 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 7390.0, + -6083.3975, + 200.0 + ], + "actual_end_pos": [ + 7390.0, + -6083.3975, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 7390.0, + -6083.3975, + 200.0 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 7390.0, + -6083.3975, + 200.0 + ], + "actual_end_pos": [ + 7390.0, + -6083.3975, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 7390.0, + -6083.3975, + 200.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 7390.0, + -6083.3975, + 200.0 + ], + "actual_end_pos": [ + 7390.0, + -6083.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7390.0, + -6083.3975, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 7319.2893, + -6012.6868, + 200.0 + ], + "actual_end_pos": [ + 7319.2893, + -6012.6868, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7319.2893, + -6012.6868, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 7248.5786, + -6083.3975, + 200.0 + ], + "actual_end_pos": [ + 7248.5786, + -6083.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7248.5786, + -6083.3975, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 7248.5786, + -6083.3975, + 200.0 + ], + "actual_end_pos": [ + 7248.5786, + -6083.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 7248.5786, + -6083.3975, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 7248.5786, + -6083.3975, + 200.0 + ], + "actual_end_pos": [ + 7248.5786, + -6083.3975, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 7248.5786, + -6083.3975, + 200.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 7248.5786, + -6083.3975, + 200.0 + ], + "actual_end_pos": [ + 7248.5786, + -6083.3975, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 7248.5786, + -6083.3975, + 200.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 7248.5786, + -6083.3975, + 200.0 + ], + "actual_end_pos": [ + 7248.5786, + -6083.3975, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7248.5786, + -6083.3975, + 200.0 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 7274.4606, + -5986.8049, + 200.0 + ], + "actual_end_pos": [ + 7274.4606, + -5986.8049, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 7274.4606, + -5986.8049, + 200.0 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 7274.4606, + -5986.8049, + 200.0 + ], + "actual_end_pos": [ + 7274.4606, + -5986.8049, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7274.4606, + -5986.8049, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 7371.0531, + -6012.6868, + 200.0 + ], + "actual_end_pos": [ + 7371.0531, + -6012.6868, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7371.0531, + -6012.6868, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 7396.935, + -5916.0942, + 200.0 + ], + "actual_end_pos": [ + 7396.935, + -5916.0942, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7396.935, + -5916.0942, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 7493.5276, + -5941.9761, + 200.0 + ], + "actual_end_pos": [ + 7493.5276, + -5941.9761, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 7493.5276, + -5941.9761, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 7493.5276, + -5941.9761, + 200.0 + ], + "actual_end_pos": [ + 7493.5276, + -5941.9761, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7493.5276, + -5941.9761, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 7406.9251, + -5891.9761, + 200.0 + ], + "actual_end_pos": [ + 7406.9251, + -5891.9761, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7406.9251, + -5891.9761, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 7320.3225, + -5841.9761, + 200.0 + ], + "actual_end_pos": [ + 7320.3225, + -5841.9761, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7320.3225, + -5841.9761, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 7370.3225, + -5755.3736, + 200.0 + ], + "actual_end_pos": [ + 7370.3225, + -5755.3736, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 7370.3225, + -5755.3736, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 7370.3225, + -5755.3736, + 200.0 + ], + "actual_end_pos": [ + 7370.3225, + -5755.3736, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 7370.3225, + -5755.3736, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 7370.3225, + -5755.3736, + 200.0 + ], + "actual_end_pos": [ + 7370.3225, + -5755.3736, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7370.3225, + -5755.3736, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7370.3225, + -5855.3736, + 200.0 + ], + "actual_end_pos": [ + 7370.3225, + -5855.3736, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7370.3225, + -5855.3736, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7370.3225, + -5955.3736, + 200.0 + ], + "actual_end_pos": [ + 7370.3225, + -5955.3736, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7370.3225, + -5955.3736, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7370.3225, + -6055.3736, + 200.0 + ], + "actual_end_pos": [ + 7370.3225, + -6055.3736, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7370.3225, + -6055.3736, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "actual_end_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "actual_end_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "actual_end_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "actual_end_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "actual_end_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "actual_end_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "actual_end_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "actual_end_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "actual_end_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "actual_end_pos": [ + 7370.3225, + -6155.3736, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_180248__traj_004130_meta.json b/loop_easy/run_20260408_180248__traj_004130_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f99227981a518ee59d92661d69702e8fd16b5137 --- /dev/null +++ b/loop_easy/run_20260408_180248__traj_004130_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4130, + "episode_id": 0, + "state_id": 3064, + "sample_index": 3064, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 7340.0, + -4170.0, + 200.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "no_op", + "move_forward", + "move_forward", + "turn_left", + "move_left", + "look_down", + "no_op", + "no_op", + "move_backward", + "look_up", + "move_left", + "move_backward", + "move_backward", + "look_up", + "move_forward", + "move_left", + "turn_left", + "move_forward", + "move_right", + "turn_right", + "turn_right", + "look_down", + "move_backward", + "move_backward", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7340.0, + -4170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7440.0, + -4170.0, + 200.0 + ], + "actual_end_pos": [ + 7440.0, + -4170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7440.0, + -4170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7440.0, + -4170.0, + 200.0 + ], + "actual_end_pos": [ + 7440.0, + -4170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7440.0, + -4170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7540.0, + -4170.0, + 200.0 + ], + "actual_end_pos": [ + 7540.0, + -4170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7540.0, + -4170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7640.0, + -4170.0, + 200.0 + ], + "actual_end_pos": [ + 7640.0, + -4170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 7640.0, + -4170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7640.0, + -4170.0, + 200.0 + ], + "actual_end_pos": [ + 7640.0, + -4170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7640.0, + -4170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 7614.1181, + -4266.5926, + 200.0 + ], + "actual_end_pos": [ + 7614.1181, + -4266.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 7614.1181, + -4266.5926, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 7614.1181, + -4266.5926, + 200.0 + ], + "actual_end_pos": [ + 7614.1181, + -4266.5926, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7614.1181, + -4266.5926, + 200.0 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 7614.1181, + -4266.5926, + 200.0 + ], + "actual_end_pos": [ + 7614.1181, + -4266.5926, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7614.1181, + -4266.5926, + 200.0 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 7614.1181, + -4266.5926, + 200.0 + ], + "actual_end_pos": [ + 7614.1181, + -4266.5926, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7614.1181, + -4266.5926, + 200.0 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 7518.3519, + -4240.9321, + 213.0526 + ], + "actual_end_pos": [ + 7518.3519, + -4240.9321, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 7518.3519, + -4240.9321, + 213.0526 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 7518.3519, + -4240.9321, + 213.0526 + ], + "actual_end_pos": [ + 7518.3519, + -4240.9321, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7518.3519, + -4240.9321, + 213.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 7492.47, + -4337.5247, + 213.0526 + ], + "actual_end_pos": [ + 7492.47, + -4337.5247, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7492.47, + -4337.5247, + 213.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 7395.8774, + -4311.6428, + 213.0526 + ], + "actual_end_pos": [ + 7395.8774, + -4311.6428, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7395.8774, + -4311.6428, + 213.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 7299.2848, + -4285.7609, + 213.0526 + ], + "actual_end_pos": [ + 7299.2848, + -4285.7609, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 7299.2848, + -4285.7609, + 213.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 7299.2848, + -4285.7609, + 213.0526 + ], + "actual_end_pos": [ + 7299.2848, + -4285.7609, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7299.2848, + -4285.7609, + 213.0526 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 7395.051, + -4311.4214, + 226.1052 + ], + "actual_end_pos": [ + 7395.051, + -4311.4214, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7395.051, + -4311.4214, + 226.1052 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 7369.1691, + -4408.0139, + 226.1052 + ], + "actual_end_pos": [ + 7369.1691, + -4408.0139, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 7369.1691, + -4408.0139, + 226.1052 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 7369.1691, + -4408.0139, + 226.1052 + ], + "actual_end_pos": [ + 7369.1691, + -4408.0139, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7369.1691, + -4408.0139, + 226.1052 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 7455.0308, + -4457.5862, + 239.1579 + ], + "actual_end_pos": [ + 7455.0308, + -4457.5862, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7455.0308, + -4457.5862, + 239.1579 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 7505.0308, + -4370.9836, + 239.1579 + ], + "actual_end_pos": [ + 7505.0308, + -4370.9836, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 7505.0308, + -4370.9836, + 239.1579 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 7505.0308, + -4370.9836, + 239.1579 + ], + "actual_end_pos": [ + 7505.0308, + -4370.9836, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 7505.0308, + -4370.9836, + 239.1579 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 7505.0308, + -4370.9836, + 239.1579 + ], + "actual_end_pos": [ + 7505.0308, + -4370.9836, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 7505.0308, + -4370.9836, + 239.1579 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7505.0308, + -4370.9836, + 239.1579 + ], + "actual_end_pos": [ + 7505.0308, + -4370.9836, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7505.0308, + -4370.9836, + 239.1579 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7405.0308, + -4370.9836, + 239.1579 + ], + "actual_end_pos": [ + 7405.0308, + -4370.9836, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7405.0308, + -4370.9836, + 239.1579 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7305.0308, + -4370.9836, + 239.1579 + ], + "actual_end_pos": [ + 7305.0308, + -4370.9836, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7305.0308, + -4370.9836, + 239.1579 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7305.0308, + -4270.9836, + 239.1579 + ], + "actual_end_pos": [ + 7305.0308, + -4270.9836, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7305.0308, + -4270.9836, + 239.1579 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_pos": [ + 7305.0308, + -4170.9836, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_180248__traj_004617_meta.json b/loop_easy/run_20260408_180248__traj_004617_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..07a696b3fff6d02e5fb637b2ade8029827cb6495 --- /dev/null +++ b/loop_easy/run_20260408_180248__traj_004617_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4617, + "episode_id": 0, + "state_id": 3433, + "sample_index": 3433, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 9340.0, + -16170.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_left", + "move_right", + "turn_right", + "move_backward", + "move_right", + "move_right", + "move_backward", + "turn_right", + "move_backward", + "move_right", + "turn_left", + "look_down", + "move_right", + "turn_left", + "turn_left", + "look_up", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 9340.0, + -16170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9340.0, + -16170.0, + 200.0 + ], + "actual_end_pos": [ + 9340.0, + -16170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 9340.0, + -16170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 9426.6025, + -16220.0, + 200.0 + ], + "actual_end_pos": [ + 9426.6025, + -16220.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 9426.6025, + -16220.0, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 9340.0, + -16170.0, + 200.0 + ], + "actual_end_pos": [ + 9340.0, + -16170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 9340.0, + -16170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 9340.0, + -16170.0, + 200.0 + ], + "actual_end_pos": [ + 9340.0, + -16170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 9340.0, + -16170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 9314.1181, + -16266.5926, + 200.0 + ], + "actual_end_pos": [ + 9314.1181, + -16266.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 9314.1181, + -16266.5926, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 9217.5255, + -16240.7107, + 200.0 + ], + "actual_end_pos": [ + 9217.5255, + -16240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 9217.5255, + -16240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 9120.9329, + -16214.8288, + 200.0 + ], + "actual_end_pos": [ + 9120.9329, + -16214.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 9120.9329, + -16214.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 9095.051, + -16311.4214, + 200.0 + ], + "actual_end_pos": [ + 9095.051, + -16311.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 9095.051, + -16311.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 9095.051, + -16311.4214, + 200.0 + ], + "actual_end_pos": [ + 9095.051, + -16311.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 9095.051, + -16311.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 9095.051, + -16411.4214, + 200.0 + ], + "actual_end_pos": [ + 9095.051, + -16411.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 9095.051, + -16411.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 8995.051, + -16411.4214, + 200.0 + ], + "actual_end_pos": [ + 8995.051, + -16411.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 8995.051, + -16411.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 8995.051, + -16411.4214, + 200.0 + ], + "actual_end_pos": [ + 8995.051, + -16411.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 8995.051, + -16411.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 8995.051, + -16411.4214, + 200.0 + ], + "actual_end_pos": [ + 8995.051, + -16411.4214, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 8995.051, + -16411.4214, + 200.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 8898.4584, + -16385.5394, + 200.0 + ], + "actual_end_pos": [ + 8898.4584, + -16385.5394, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 8898.4584, + -16385.5394, + 200.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 8898.4584, + -16385.5394, + 200.0 + ], + "actual_end_pos": [ + 8898.4584, + -16385.5394, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 8898.4584, + -16385.5394, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 8898.4584, + -16385.5394, + 200.0 + ], + "actual_end_pos": [ + 8898.4584, + -16385.5394, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 8898.4584, + -16385.5394, + 200.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 8898.4584, + -16385.5394, + 200.0 + ], + "actual_end_pos": [ + 8898.4584, + -16385.5394, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 8898.4584, + -16385.5394, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 8969.1691, + -16314.8288, + 200.0 + ], + "actual_end_pos": [ + 8969.1691, + -16314.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 8969.1691, + -16314.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9039.8798, + -16244.1181, + 200.0 + ], + "actual_end_pos": [ + 9039.8798, + -16244.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 9039.8798, + -16244.1181, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9110.5905, + -16173.4074, + 200.0 + ], + "actual_end_pos": [ + 9110.5905, + -16173.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 9110.5905, + -16173.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9181.3012, + -16102.6967, + 200.0 + ], + "actual_end_pos": [ + 9181.3012, + -16102.6967, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 9181.3012, + -16102.6967, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9252.0118, + -16031.9861, + 200.0 + ], + "actual_end_pos": [ + 9252.0118, + -16031.9861, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 9252.0118, + -16031.9861, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9322.7225, + -16102.6967, + 200.0 + ], + "actual_end_pos": [ + 9322.7225, + -16102.6967, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 9322.7225, + -16102.6967, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_pos": [ + 9393.4332, + -16173.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_180248__traj_004728_meta.json b/loop_easy/run_20260408_180248__traj_004728_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..94ed6b8c4ec23621434b8852342f3a7da61030d1 --- /dev/null +++ b/loop_easy/run_20260408_180248__traj_004728_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4728, + "episode_id": 0, + "state_id": 3513, + "sample_index": 3513, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 9340.0, + -2170.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "turn_left", + "move_forward", + "no_op", + "move_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_right", + "turn_left", + "look_down", + "move_left", + "turn_right", + "look_up", + "turn_left", + "move_forward", + "look_down", + "turn_right", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 9340.0, + -2170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9340.0, + -2170.0, + 200.0 + ], + "actual_end_pos": [ + 9340.0, + -2170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 9340.0, + -2170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9340.0, + -2170.0, + 200.0 + ], + "actual_end_pos": [ + 9340.0, + -2170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 9340.0, + -2170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 9436.5926, + -2144.1181, + 200.0 + ], + "actual_end_pos": [ + 9436.5926, + -2144.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9436.5926, + -2144.1181, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 9436.5926, + -2144.1181, + 200.0 + ], + "actual_end_pos": [ + 9436.5926, + -2144.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 9436.5926, + -2144.1181, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 9410.7107, + -2047.5255, + 200.0 + ], + "actual_end_pos": [ + 9410.7107, + -2047.5255, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 9410.7107, + -2047.5255, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 9410.7107, + -2047.5255, + 200.0 + ], + "actual_end_pos": [ + 9410.7107, + -2047.5255, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 9410.7107, + -2047.5255, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9410.7107, + -2047.5255, + 200.0 + ], + "actual_end_pos": [ + 9410.7107, + -2047.5255, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 9410.7107, + -2047.5255, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9481.4214, + -1976.8148, + 200.0 + ], + "actual_end_pos": [ + 9481.4214, + -1976.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 9481.4214, + -1976.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9552.132, + -1906.1042, + 200.0 + ], + "actual_end_pos": [ + 9552.132, + -1906.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 9552.132, + -1906.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9481.4214, + -1835.3935, + 200.0 + ], + "actual_end_pos": [ + 9481.4214, + -1835.3935, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 9481.4214, + -1835.3935, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9481.4214, + -1835.3935, + 200.0 + ], + "actual_end_pos": [ + 9481.4214, + -1835.3935, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 9481.4214, + -1835.3935, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9481.4214, + -1835.3935, + 200.0 + ], + "actual_end_pos": [ + 9481.4214, + -1835.3935, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 9481.4214, + -1835.3935, + 200.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9531.4214, + -1921.996, + 200.0 + ], + "actual_end_pos": [ + 9531.4214, + -1921.996, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 9531.4214, + -1921.996, + 200.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9531.4214, + -1921.996, + 200.0 + ], + "actual_end_pos": [ + 9531.4214, + -1921.996, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 9531.4214, + -1921.996, + 200.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9531.4214, + -1921.996, + 200.0 + ], + "actual_end_pos": [ + 9531.4214, + -1921.996, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 9531.4214, + -1921.996, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9531.4214, + -1921.996, + 200.0 + ], + "actual_end_pos": [ + 9531.4214, + -1921.996, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 9531.4214, + -1921.996, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9618.0239, + -1871.996, + 200.0 + ], + "actual_end_pos": [ + 9618.0239, + -1871.996, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 9618.0239, + -1871.996, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9618.0239, + -1871.996, + 200.0 + ], + "actual_end_pos": [ + 9618.0239, + -1871.996, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 9618.0239, + -1871.996, + 200.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9618.0239, + -1871.996, + 200.0 + ], + "actual_end_pos": [ + 9618.0239, + -1871.996, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 9618.0239, + -1871.996, + 200.0 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9618.0239, + -1871.996, + 200.0 + ], + "actual_end_pos": [ + 9618.0239, + -1871.996, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 9618.0239, + -1871.996, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9547.3132, + -1942.7067, + 200.0 + ], + "actual_end_pos": [ + 9547.3132, + -1942.7067, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 9547.3132, + -1942.7067, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9476.6025, + -2013.4174, + 200.0 + ], + "actual_end_pos": [ + 9476.6025, + -2013.4174, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 9476.6025, + -2013.4174, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9405.8919, + -2084.1281, + 200.0 + ], + "actual_end_pos": [ + 9405.8919, + -2084.1281, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 9405.8919, + -2084.1281, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_pos": [ + 9335.1812, + -2154.8387, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_180248__traj_005859_meta.json b/loop_easy/run_20260408_180248__traj_005859_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc11e4e28907ce378d1be2b10bde3254891288c0 --- /dev/null +++ b/loop_easy/run_20260408_180248__traj_005859_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 5859, + "episode_id": 0, + "state_id": 4355, + "sample_index": 4355, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 12340.0, + -5170.0, + 200.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_forward", + "turn_left", + "move_right", + "move_right", + "move_forward", + "turn_left", + "move_right", + "turn_right", + "no_op", + "move_left", + "move_left", + "no_op", + "move_forward", + "no_op", + "move_backward", + "move_right", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12340.0, + -5170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12269.2893, + -5240.7107, + 200.0 + ], + "actual_end_pos": [ + 12269.2893, + -5240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12269.2893, + -5240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12198.5786, + -5311.4214, + 200.0 + ], + "actual_end_pos": [ + 12198.5786, + -5311.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12198.5786, + -5311.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12127.868, + -5382.132, + 200.0 + ], + "actual_end_pos": [ + 12127.868, + -5382.132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12127.868, + -5382.132, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12057.1573, + -5452.8427, + 200.0 + ], + "actual_end_pos": [ + 12057.1573, + -5452.8427, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12057.1573, + -5452.8427, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 11986.4466, + -5523.5534, + 200.0 + ], + "actual_end_pos": [ + 11986.4466, + -5523.5534, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 11986.4466, + -5523.5534, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 11986.4466, + -5523.5534, + 200.0 + ], + "actual_end_pos": [ + 11986.4466, + -5523.5534, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 11986.4466, + -5523.5534, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 11899.8441, + -5473.5534, + 200.0 + ], + "actual_end_pos": [ + 11899.8441, + -5473.5534, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 11899.8441, + -5473.5534, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 11899.8441, + -5473.5534, + 200.0 + ], + "actual_end_pos": [ + 11899.8441, + -5473.5534, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 11899.8441, + -5473.5534, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 11829.1334, + -5544.2641, + 200.0 + ], + "actual_end_pos": [ + 11829.1334, + -5544.2641, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 11829.1334, + -5544.2641, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 11758.4227, + -5614.9747, + 200.0 + ], + "actual_end_pos": [ + 11758.4227, + -5614.9747, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 11758.4227, + -5614.9747, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 11687.712, + -5544.2641, + 200.0 + ], + "actual_end_pos": [ + 11687.712, + -5544.2641, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 11687.712, + -5544.2641, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 11687.712, + -5544.2641, + 200.0 + ], + "actual_end_pos": [ + 11687.712, + -5544.2641, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 11687.712, + -5544.2641, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 11601.1095, + -5594.2641, + 200.0 + ], + "actual_end_pos": [ + 11601.1095, + -5594.2641, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 11601.1095, + -5594.2641, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 11601.1095, + -5594.2641, + 200.0 + ], + "actual_end_pos": [ + 11601.1095, + -5594.2641, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11601.1095, + -5594.2641, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 11601.1095, + -5594.2641, + 200.0 + ], + "actual_end_pos": [ + 11601.1095, + -5594.2641, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 11601.1095, + -5594.2641, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 11671.8202, + -5523.5534, + 200.0 + ], + "actual_end_pos": [ + 11671.8202, + -5523.5534, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 11671.8202, + -5523.5534, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 11742.5308, + -5452.8427, + 200.0 + ], + "actual_end_pos": [ + 11742.5308, + -5452.8427, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11742.5308, + -5452.8427, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 11742.5308, + -5452.8427, + 200.0 + ], + "actual_end_pos": [ + 11742.5308, + -5452.8427, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 11742.5308, + -5452.8427, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 11671.8202, + -5382.132, + 200.0 + ], + "actual_end_pos": [ + 11671.8202, + -5382.132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11671.8202, + -5382.132, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 11671.8202, + -5382.132, + 200.0 + ], + "actual_end_pos": [ + 11671.8202, + -5382.132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 11671.8202, + -5382.132, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 11742.5308, + -5452.8427, + 200.0 + ], + "actual_end_pos": [ + 11742.5308, + -5452.8427, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 11742.5308, + -5452.8427, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 11671.8202, + -5523.5534, + 200.0 + ], + "actual_end_pos": [ + 11671.8202, + -5523.5534, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 11671.8202, + -5523.5534, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 11742.5308, + -5594.2641, + 200.0 + ], + "actual_end_pos": [ + 11742.5308, + -5594.2641, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 11742.5308, + -5594.2641, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 11813.2415, + -5664.9747, + 200.0 + ], + "actual_end_pos": [ + 11813.2415, + -5664.9747, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 11813.2415, + -5664.9747, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 11883.9522, + -5594.2641, + 200.0 + ], + "actual_end_pos": [ + 11883.9522, + -5594.2641, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 11883.9522, + -5594.2641, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 11954.6629, + -5523.5534, + 200.0 + ], + "actual_end_pos": [ + 11954.6629, + -5523.5534, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 11954.6629, + -5523.5534, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12025.3736, + -5452.8427, + 200.0 + ], + "actual_end_pos": [ + 12025.3736, + -5452.8427, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12025.3736, + -5452.8427, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12096.0842, + -5382.132, + 200.0 + ], + "actual_end_pos": [ + 12096.0842, + -5382.132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12096.0842, + -5382.132, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12166.7949, + -5311.4214, + 200.0 + ], + "actual_end_pos": [ + 12166.7949, + -5311.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12166.7949, + -5311.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12237.5056, + -5240.7107, + 200.0 + ], + "actual_end_pos": [ + 12237.5056, + -5240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12237.5056, + -5240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "actual_end_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "actual_end_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "actual_end_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "actual_end_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "actual_end_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "actual_end_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "actual_end_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "actual_end_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "actual_end_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "actual_end_pos": [ + 12308.2163, + -5170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_180248__traj_005996_meta.json b/loop_easy/run_20260408_180248__traj_005996_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..10301924a77359c2a60d2560678fcb6c632325eb --- /dev/null +++ b/loop_easy/run_20260408_180248__traj_005996_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 5996, + "episode_id": 0, + "state_id": 4457, + "sample_index": 4457, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 13340.0, + -33170.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_forward", + "move_left", + "move_left", + "move_forward", + "move_right", + "turn_right", + "move_forward", + "move_right", + "move_right", + "move_right", + "move_forward", + "move_forward", + "move_right", + "look_up", + "move_backward", + "turn_left", + "turn_right", + "turn_right", + "turn_right", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13340.0, + -33170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13340.0, + -33170.0, + 200.0 + ], + "actual_end_pos": [ + 13340.0, + -33170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13340.0, + -33170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 13340.0, + -33170.0, + 200.0 + ], + "actual_end_pos": [ + 13340.0, + -33170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13340.0, + -33170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 13340.0, + -33170.0, + 200.0 + ], + "actual_end_pos": [ + 13340.0, + -33170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13340.0, + -33170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 13340.0, + -33270.0, + 200.0 + ], + "actual_end_pos": [ + 13340.0, + -33270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13340.0, + -33270.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 13440.0, + -33270.0, + 200.0 + ], + "actual_end_pos": [ + 13440.0, + -33270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13440.0, + -33270.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 13440.0, + -33370.0, + 200.0 + ], + "actual_end_pos": [ + 13440.0, + -33370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13440.0, + -33370.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 13440.0, + -33470.0, + 200.0 + ], + "actual_end_pos": [ + 13440.0, + -33470.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13440.0, + -33470.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 13540.0, + -33470.0, + 200.0 + ], + "actual_end_pos": [ + 13540.0, + -33470.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13540.0, + -33470.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 13540.0, + -33370.0, + 200.0 + ], + "actual_end_pos": [ + 13540.0, + -33370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13540.0, + -33370.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 13540.0, + -33370.0, + 200.0 + ], + "actual_end_pos": [ + 13540.0, + -33370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13540.0, + -33370.0, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 13636.5926, + -33344.1181, + 200.0 + ], + "actual_end_pos": [ + 13636.5926, + -33344.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13636.5926, + -33344.1181, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 13610.7107, + -33247.5255, + 200.0 + ], + "actual_end_pos": [ + 13610.7107, + -33247.5255, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13610.7107, + -33247.5255, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 13584.8288, + -33150.9329, + 200.0 + ], + "actual_end_pos": [ + 13584.8288, + -33150.9329, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13584.8288, + -33150.9329, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 13558.9469, + -33054.3403, + 200.0 + ], + "actual_end_pos": [ + 13558.9469, + -33054.3403, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13558.9469, + -33054.3403, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 13655.5395, + -33028.4584, + 200.0 + ], + "actual_end_pos": [ + 13655.5395, + -33028.4584, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13655.5395, + -33028.4584, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 13752.132, + -33002.5765, + 200.0 + ], + "actual_end_pos": [ + 13752.132, + -33002.5765, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13752.132, + -33002.5765, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 13726.2501, + -32905.984, + 200.0 + ], + "actual_end_pos": [ + 13726.2501, + -32905.984, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 13726.2501, + -32905.984, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 13726.2501, + -32905.984, + 200.0 + ], + "actual_end_pos": [ + 13726.2501, + -32905.984, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13726.2501, + -32905.984, + 200.0 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 13630.4839, + -32931.6444, + 186.9474 + ], + "actual_end_pos": [ + 13630.4839, + -32931.6444, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13630.4839, + -32931.6444, + 186.9474 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 13630.4839, + -32931.6444, + 186.9474 + ], + "actual_end_pos": [ + 13630.4839, + -32931.6444, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13630.4839, + -32931.6444, + 186.9474 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 13630.4839, + -32931.6444, + 186.9474 + ], + "actual_end_pos": [ + 13630.4839, + -32931.6444, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13630.4839, + -32931.6444, + 186.9474 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 13630.4839, + -32931.6444, + 186.9474 + ], + "actual_end_pos": [ + 13630.4839, + -32931.6444, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13630.4839, + -32931.6444, + 186.9474 + ], + "start_rot": [ + 7.5, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 13630.4839, + -32931.6444, + 186.9474 + ], + "actual_end_pos": [ + 13630.4839, + -32931.6444, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 13630.4839, + -32931.6444, + 186.9474 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13630.4839, + -32931.6444, + 186.9474 + ], + "actual_end_pos": [ + 13630.4839, + -32931.6444, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13630.4839, + -32931.6444, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13559.7732, + -33002.3551, + 186.9474 + ], + "actual_end_pos": [ + 13559.7732, + -33002.3551, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13559.7732, + -33002.3551, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13489.0626, + -33073.0658, + 186.9474 + ], + "actual_end_pos": [ + 13489.0626, + -33073.0658, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13489.0626, + -33073.0658, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13418.3519, + -33143.7765, + 186.9474 + ], + "actual_end_pos": [ + 13418.3519, + -33143.7765, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13418.3519, + -33143.7765, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_pos": [ + 13347.6412, + -33214.4871, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260408_180248__traj_006249_meta.json b/loop_easy/run_20260408_180248__traj_006249_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..96d5029b4efc89b5075593224e753f2e155ac12f --- /dev/null +++ b/loop_easy/run_20260408_180248__traj_006249_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 6249, + "episode_id": 0, + "state_id": 4644, + "sample_index": 4644, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 13340.0, + -10170.0, + 200.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "turn_right", + "no_op", + "move_left", + "turn_left", + "move_backward", + "look_down", + "move_backward", + "turn_right", + "move_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "no_op", + "move_forward", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_backward", + "turn_left", + "move_forward", + "turn_right", + "turn_right", + "look_up", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13340.0, + -10170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13340.0, + -10270.0, + 200.0 + ], + "actual_end_pos": [ + 13340.0, + -10270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13340.0, + -10270.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13340.0, + -10270.0, + 200.0 + ], + "actual_end_pos": [ + 13340.0, + -10270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13340.0, + -10270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 13340.0, + -10270.0, + 200.0 + ], + "actual_end_pos": [ + 13340.0, + -10270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13340.0, + -10270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 13314.1181, + -10173.4074, + 200.0 + ], + "actual_end_pos": [ + 13314.1181, + -10173.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13314.1181, + -10173.4074, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 13314.1181, + -10173.4074, + 200.0 + ], + "actual_end_pos": [ + 13314.1181, + -10173.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13314.1181, + -10173.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13414.1181, + -10173.4074, + 200.0 + ], + "actual_end_pos": [ + 13414.1181, + -10173.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 13414.1181, + -10173.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13414.1181, + -10173.4074, + 200.0 + ], + "actual_end_pos": [ + 13414.1181, + -10173.4074, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13414.1181, + -10173.4074, + 200.0 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 13513.2626, + -10173.4074, + 213.0526 + ], + "actual_end_pos": [ + 13513.2626, + -10173.4074, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13513.2626, + -10173.4074, + 213.0526 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 13513.2626, + -10173.4074, + 213.0526 + ], + "actual_end_pos": [ + 13513.2626, + -10173.4074, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13513.2626, + -10173.4074, + 213.0526 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 13487.3807, + -10076.8148, + 213.0526 + ], + "actual_end_pos": [ + 13487.3807, + -10076.8148, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13487.3807, + -10076.8148, + 213.0526 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 13487.3807, + -10076.8148, + 213.0526 + ], + "actual_end_pos": [ + 13487.3807, + -10076.8148, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13487.3807, + -10076.8148, + 213.0526 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13388.2362, + -10076.8148, + 200.0 + ], + "actual_end_pos": [ + 13388.2362, + -10076.8148, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13388.2362, + -10076.8148, + 200.0 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13289.0917, + -10076.8148, + 186.9474 + ], + "actual_end_pos": [ + 13289.0917, + -10076.8148, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13289.0917, + -10076.8148, + 186.9474 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13189.9472, + -10076.8148, + 173.8948 + ], + "actual_end_pos": [ + 13189.9472, + -10076.8148, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13189.9472, + -10076.8148, + 173.8948 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13189.9472, + -10176.8148, + 173.8948 + ], + "actual_end_pos": [ + 13189.9472, + -10176.8148, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13189.9472, + -10176.8148, + 173.8948 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13189.9472, + -10176.8148, + 173.8948 + ], + "actual_end_pos": [ + 13189.9472, + -10176.8148, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13189.9472, + -10176.8148, + 173.8948 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13090.8027, + -10176.8148, + 160.8421 + ], + "actual_end_pos": [ + 13090.8027, + -10176.8148, + 160.8421 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13090.8027, + -10176.8148, + 160.8421 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13090.8027, + -10176.8148, + 160.8421 + ], + "actual_end_pos": [ + 13090.8027, + -10176.8148, + 160.8421 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13090.8027, + -10176.8148, + 160.8421 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 13116.6846, + -10080.2222, + 160.8421 + ], + "actual_end_pos": [ + 13116.6846, + -10080.2222, + 160.8421 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13116.6846, + -10080.2222, + 160.8421 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 13142.5665, + -9983.6297, + 160.8421 + ], + "actual_end_pos": [ + 13142.5665, + -9983.6297, + 160.8421 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13142.5665, + -9983.6297, + 160.8421 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 13168.4484, + -9887.0371, + 160.8421 + ], + "actual_end_pos": [ + 13168.4484, + -9887.0371, + 160.8421 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13168.4484, + -9887.0371, + 160.8421 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 13194.3304, + -9790.4445, + 160.8421 + ], + "actual_end_pos": [ + 13194.3304, + -9790.4445, + 160.8421 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13194.3304, + -9790.4445, + 160.8421 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 13220.2123, + -9693.8519, + 160.8421 + ], + "actual_end_pos": [ + 13220.2123, + -9693.8519, + 160.8421 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13220.2123, + -9693.8519, + 160.8421 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 13315.9785, + -9719.5124, + 173.8948 + ], + "actual_end_pos": [ + 13315.9785, + -9719.5124, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13315.9785, + -9719.5124, + 173.8948 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 13315.9785, + -9719.5124, + 173.8948 + ], + "actual_end_pos": [ + 13315.9785, + -9719.5124, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13315.9785, + -9719.5124, + 173.8948 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 13230.1168, + -9669.9402, + 160.8421 + ], + "actual_end_pos": [ + 13230.1168, + -9669.9402, + 160.8421 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13230.1168, + -9669.9402, + 160.8421 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 13230.1168, + -9669.9402, + 160.8421 + ], + "actual_end_pos": [ + 13230.1168, + -9669.9402, + 160.8421 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13230.1168, + -9669.9402, + 160.8421 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 13230.1168, + -9669.9402, + 160.8421 + ], + "actual_end_pos": [ + 13230.1168, + -9669.9402, + 160.8421 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 13230.1168, + -9669.9402, + 160.8421 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 13230.1168, + -9669.9402, + 160.8421 + ], + "actual_end_pos": [ + 13230.1168, + -9669.9402, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13230.1168, + -9669.9402, + 160.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13330.1168, + -9669.9402, + 160.8421 + ], + "actual_end_pos": [ + 13330.1168, + -9669.9402, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13330.1168, + -9669.9402, + 160.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13330.1168, + -9769.9402, + 160.8421 + ], + "actual_end_pos": [ + 13330.1168, + -9769.9402, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13330.1168, + -9769.9402, + 160.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13330.1168, + -9869.9402, + 160.8421 + ], + "actual_end_pos": [ + 13330.1168, + -9869.9402, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13330.1168, + -9869.9402, + 160.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13330.1168, + -9969.9402, + 160.8421 + ], + "actual_end_pos": [ + 13330.1168, + -9969.9402, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13330.1168, + -9969.9402, + 160.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13330.1168, + -10069.9402, + 160.8421 + ], + "actual_end_pos": [ + 13330.1168, + -10069.9402, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13330.1168, + -10069.9402, + 160.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13330.1168, + -10169.9402, + 160.8421 + ], + "actual_end_pos": [ + 13330.1168, + -10169.9402, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13330.1168, + -10169.9402, + 160.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13330.1168, + -10169.9402, + 160.8421 + ], + "actual_end_pos": [ + 13330.1168, + -10169.9402, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13330.1168, + -10169.9402, + 160.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13330.1168, + -10169.9402, + 160.8421 + ], + "actual_end_pos": [ + 13330.1168, + -10169.9402, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13330.1168, + -10169.9402, + 160.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13330.1168, + -10169.9402, + 160.8421 + ], + "actual_end_pos": [ + 13330.1168, + -10169.9402, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13330.1168, + -10169.9402, + 160.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13330.1168, + -10169.9402, + 160.8421 + ], + "actual_end_pos": [ + 13330.1168, + -10169.9402, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13330.1168, + -10169.9402, + 160.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 13330.1168, + -10169.9402, + 160.8421 + ], + "actual_end_pos": [ + 13330.1168, + -10169.9402, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260409_134704__traj_000010_meta.json b/loop_easy/run_20260409_134704__traj_000010_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..29337f65c6855927d30a86405c638c976b38f03d --- /dev/null +++ b/loop_easy/run_20260409_134704__traj_000010_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 10, + "episode_id": 0, + "state_id": 7, + "sample_index": 7, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 20280.0, + 2630.0, + 3550.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "no_op", + "move_backward", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_right", + "turn_right", + "move_left", + "move_left", + "move_forward", + "turn_left", + "move_forward", + "move_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 20280.0, + 2630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20280.0, + 2730.0, + 3550.0 + ], + "actual_end_pos": [ + 20280.0, + 2730.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 20280.0, + 2730.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20280.0, + 2830.0, + 3550.0 + ], + "actual_end_pos": [ + 20280.0, + 2830.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20280.0, + 2830.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20280.0, + 2830.0, + 3550.0 + ], + "actual_end_pos": [ + 20280.0, + 2830.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 20280.0, + 2830.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20280.0, + 2930.0, + 3550.0 + ], + "actual_end_pos": [ + 20280.0, + 2930.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 20280.0, + 2930.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20380.0, + 2930.0, + 3550.0 + ], + "actual_end_pos": [ + 20380.0, + 2930.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 20380.0, + 2930.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20380.0, + 2830.0, + 3550.0 + ], + "actual_end_pos": [ + 20380.0, + 2830.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 20380.0, + 2830.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20380.0, + 2730.0, + 3550.0 + ], + "actual_end_pos": [ + 20380.0, + 2730.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 20380.0, + 2730.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20380.0, + 2630.0, + 3550.0 + ], + "actual_end_pos": [ + 20380.0, + 2630.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 20380.0, + 2630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20380.0, + 2630.0, + 3550.0 + ], + "actual_end_pos": [ + 20380.0, + 2630.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 20380.0, + 2630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 20380.0, + 2630.0, + 3550.0 + ], + "actual_end_pos": [ + 20380.0, + 2630.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 20380.0, + 2630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 20466.6025, + 2580.0, + 3550.0 + ], + "actual_end_pos": [ + 20466.6025, + 2580.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 20466.6025, + 2580.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 20466.6025, + 2580.0, + 3550.0 + ], + "actual_end_pos": [ + 20466.6025, + 2580.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 20466.6025, + 2580.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 20370.01, + 2605.8819, + 3550.0 + ], + "actual_end_pos": [ + 20370.01, + 2605.8819, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 20370.01, + 2605.8819, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 20273.4174, + 2631.7638, + 3550.0 + ], + "actual_end_pos": [ + 20273.4174, + 2631.7638, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 20273.4174, + 2631.7638, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 20247.5355, + 2535.1712, + 3550.0 + ], + "actual_end_pos": [ + 20247.5355, + 2535.1712, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 20247.5355, + 2535.1712, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 20247.5355, + 2535.1712, + 3550.0 + ], + "actual_end_pos": [ + 20247.5355, + 2535.1712, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 20247.5355, + 2535.1712, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 20197.5355, + 2448.5687, + 3550.0 + ], + "actual_end_pos": [ + 20197.5355, + 2448.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 20197.5355, + 2448.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2398.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2398.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 20284.138, + 2398.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2398.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2398.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 20284.138, + 2398.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2398.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2398.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 20284.138, + 2398.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2498.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2498.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 20284.138, + 2498.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_pos": [ + 20284.138, + 2598.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260409_134704__traj_000289_meta.json b/loop_easy/run_20260409_134704__traj_000289_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e2a5793e964a1834cd669a19499eb99205e41704 --- /dev/null +++ b/loop_easy/run_20260409_134704__traj_000289_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 289, + "episode_id": 0, + "state_id": 218, + "sample_index": 218, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 22280.0, + 3130.0, + 3550.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "move_forward", + "turn_right", + "move_left", + "move_left", + "move_forward", + "move_forward", + "move_left", + "turn_left", + "move_forward", + "no_op", + "move_backward", + "turn_left", + "move_left", + "turn_left", + "move_backward", + "move_backward", + "move_left", + "turn_right", + "turn_right", + "move_backward", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22280.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22280.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 22280.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 22280.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22180.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 22180.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 22180.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22180.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 22180.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 22180.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 22154.1181, + 3226.5926, + 3550.0 + ], + "actual_end_pos": [ + 22154.1181, + 3226.5926, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 22154.1181, + 3226.5926, + 3550.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 22128.2362, + 3323.1852, + 3550.0 + ], + "actual_end_pos": [ + 22128.2362, + 3323.1852, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 22128.2362, + 3323.1852, + 3550.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 22031.6436, + 3297.3033, + 3550.0 + ], + "actual_end_pos": [ + 22031.6436, + 3297.3033, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 22031.6436, + 3297.3033, + 3550.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 21935.051, + 3271.4214, + 3550.0 + ], + "actual_end_pos": [ + 21935.051, + 3271.4214, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 21935.051, + 3271.4214, + 3550.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 21909.1691, + 3368.0139, + 3550.0 + ], + "actual_end_pos": [ + 21909.1691, + 3368.0139, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 21909.1691, + 3368.0139, + 3550.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 21909.1691, + 3368.0139, + 3550.0 + ], + "actual_end_pos": [ + 21909.1691, + 3368.0139, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 21909.1691, + 3368.0139, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 21809.1691, + 3368.0139, + 3550.0 + ], + "actual_end_pos": [ + 21809.1691, + 3368.0139, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 21809.1691, + 3368.0139, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 21809.1691, + 3368.0139, + 3550.0 + ], + "actual_end_pos": [ + 21809.1691, + 3368.0139, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 21809.1691, + 3368.0139, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 21909.1691, + 3368.0139, + 3550.0 + ], + "actual_end_pos": [ + 21909.1691, + 3368.0139, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 21909.1691, + 3368.0139, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 21909.1691, + 3368.0139, + 3550.0 + ], + "actual_end_pos": [ + 21909.1691, + 3368.0139, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 21909.1691, + 3368.0139, + 3550.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 21935.051, + 3464.6065, + 3550.0 + ], + "actual_end_pos": [ + 21935.051, + 3464.6065, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 21935.051, + 3464.6065, + 3550.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 21935.051, + 3464.6065, + 3550.0 + ], + "actual_end_pos": [ + 21935.051, + 3464.6065, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 21935.051, + 3464.6065, + 3550.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 22021.6536, + 3414.6065, + 3550.0 + ], + "actual_end_pos": [ + 22021.6536, + 3414.6065, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 22021.6536, + 3414.6065, + 3550.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 22108.2561, + 3364.6065, + 3550.0 + ], + "actual_end_pos": [ + 22108.2561, + 3364.6065, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 22108.2561, + 3364.6065, + 3550.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 22158.2561, + 3451.2091, + 3550.0 + ], + "actual_end_pos": [ + 22158.2561, + 3451.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 22158.2561, + 3451.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 22158.2561, + 3451.2091, + 3550.0 + ], + "actual_end_pos": [ + 22158.2561, + 3451.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 22158.2561, + 3451.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 22158.2561, + 3451.2091, + 3550.0 + ], + "actual_end_pos": [ + 22158.2561, + 3451.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 22158.2561, + 3451.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22258.2561, + 3451.2091, + 3550.0 + ], + "actual_end_pos": [ + 22258.2561, + 3451.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 22258.2561, + 3451.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22258.2561, + 3351.2091, + 3550.0 + ], + "actual_end_pos": [ + 22258.2561, + 3351.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 22258.2561, + 3351.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22258.2561, + 3251.2091, + 3550.0 + ], + "actual_end_pos": [ + 22258.2561, + 3251.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 22258.2561, + 3251.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_pos": [ + 22258.2561, + 3151.2091, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260409_134704__traj_000290_meta.json b/loop_easy/run_20260409_134704__traj_000290_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cbfd84d92be1e0fb18521b631ab98f31049cca20 --- /dev/null +++ b/loop_easy/run_20260409_134704__traj_000290_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 290, + "episode_id": 0, + "state_id": 219, + "sample_index": 219, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 22280.0, + 3130.0, + 3550.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "no_op", + "move_left", + "move_backward", + "move_right", + "move_forward", + "turn_left", + "no_op", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "turn_left", + "move_right", + "look_down", + "move_left", + "move_backward", + "move_forward", + "move_right", + "no_op", + "look_up", + "move_right", + "move_right", + "move_forward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 22280.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 22180.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 22180.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22180.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 22180.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 22180.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 22180.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 22080.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 22080.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 22080.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 22080.0, + 3230.0, + 3550.0 + ], + "actual_end_pos": [ + 22080.0, + 3230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 22080.0, + 3230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 22180.0, + 3230.0, + 3550.0 + ], + "actual_end_pos": [ + 22180.0, + 3230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 22180.0, + 3230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 22180.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 22180.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 22180.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 22180.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 22180.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22180.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 22180.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 22180.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 22180.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 22083.4074, + 3155.8819, + 3550.0 + ], + "actual_end_pos": [ + 22083.4074, + 3155.8819, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 22083.4074, + 3155.8819, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 22057.5255, + 3059.2893, + 3550.0 + ], + "actual_end_pos": [ + 22057.5255, + 3059.2893, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 22057.5255, + 3059.2893, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 22031.6436, + 2962.6967, + 3550.0 + ], + "actual_end_pos": [ + 22031.6436, + 2962.6967, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 22031.6436, + 2962.6967, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 22005.7617, + 2866.1042, + 3550.0 + ], + "actual_end_pos": [ + 22005.7617, + 2866.1042, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 22005.7617, + 2866.1042, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 21979.8798, + 2769.5116, + 3550.0 + ], + "actual_end_pos": [ + 21979.8798, + 2769.5116, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 21979.8798, + 2769.5116, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 21979.8798, + 2769.5116, + 3550.0 + ], + "actual_end_pos": [ + 21979.8798, + 2769.5116, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 21979.8798, + 2769.5116, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 21979.8798, + 2769.5116, + 3550.0 + ], + "actual_end_pos": [ + 21979.8798, + 2769.5116, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 21979.8798, + 2769.5116, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 22066.4823, + 2719.5116, + 3550.0 + ], + "actual_end_pos": [ + 22066.4823, + 2719.5116, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 22066.4823, + 2719.5116, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 22066.4823, + 2719.5116, + 3550.0 + ], + "actual_end_pos": [ + 22066.4823, + 2719.5116, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 22066.4823, + 2719.5116, + 3550.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 21979.8798, + 2769.5116, + 3550.0 + ], + "actual_end_pos": [ + 21979.8798, + 2769.5116, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 21979.8798, + 2769.5116, + 3550.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 22029.452, + 2855.3732, + 3563.0526 + ], + "actual_end_pos": [ + 22029.452, + 2855.3732, + 3563.0526 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 22029.452, + 2855.3732, + 3563.0526 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 21979.8798, + 2769.5116, + 3550.0 + ], + "actual_end_pos": [ + 21979.8798, + 2769.5116, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 21979.8798, + 2769.5116, + 3550.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 22066.4823, + 2719.5116, + 3550.0 + ], + "actual_end_pos": [ + 22066.4823, + 2719.5116, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22066.4823, + 2719.5116, + 3550.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 22066.4823, + 2719.5116, + 3550.0 + ], + "actual_end_pos": [ + 22066.4823, + 2719.5116, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 22066.4823, + 2719.5116, + 3550.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 22066.4823, + 2719.5116, + 3550.0 + ], + "actual_end_pos": [ + 22066.4823, + 2719.5116, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 22066.4823, + 2719.5116, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 22153.0849, + 2669.5116, + 3550.0 + ], + "actual_end_pos": [ + 22153.0849, + 2669.5116, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 22153.0849, + 2669.5116, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 22239.6874, + 2619.5116, + 3550.0 + ], + "actual_end_pos": [ + 22239.6874, + 2619.5116, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 22239.6874, + 2619.5116, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 22189.6874, + 2532.909, + 3550.0 + ], + "actual_end_pos": [ + 22189.6874, + 2532.909, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 22189.6874, + 2532.909, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 22189.6874, + 2532.909, + 3550.0 + ], + "actual_end_pos": [ + 22189.6874, + 2532.909, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 22189.6874, + 2532.909, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 22189.6874, + 2532.909, + 3550.0 + ], + "actual_end_pos": [ + 22189.6874, + 2532.909, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 22189.6874, + 2532.909, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 22189.6874, + 2632.909, + 3550.0 + ], + "actual_end_pos": [ + 22189.6874, + 2632.909, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 22189.6874, + 2632.909, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 22189.6874, + 2732.909, + 3550.0 + ], + "actual_end_pos": [ + 22189.6874, + 2732.909, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 22189.6874, + 2732.909, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 22189.6874, + 2832.909, + 3550.0 + ], + "actual_end_pos": [ + 22189.6874, + 2832.909, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 22189.6874, + 2832.909, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 22189.6874, + 2932.909, + 3550.0 + ], + "actual_end_pos": [ + 22189.6874, + 2932.909, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 22189.6874, + 2932.909, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 22189.6874, + 3032.909, + 3550.0 + ], + "actual_end_pos": [ + 22189.6874, + 3032.909, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 22189.6874, + 3032.909, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 22189.6874, + 3132.909, + 3550.0 + ], + "actual_end_pos": [ + 22189.6874, + 3132.909, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 22189.6874, + 3132.909, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 22289.6874, + 3132.909, + 3550.0 + ], + "actual_end_pos": [ + 22289.6874, + 3132.909, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22289.6874, + 3132.909, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 22289.6874, + 3132.909, + 3550.0 + ], + "actual_end_pos": [ + 22289.6874, + 3132.909, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22289.6874, + 3132.909, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 22289.6874, + 3132.909, + 3550.0 + ], + "actual_end_pos": [ + 22289.6874, + 3132.909, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22289.6874, + 3132.909, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 22289.6874, + 3132.909, + 3550.0 + ], + "actual_end_pos": [ + 22289.6874, + 3132.909, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22289.6874, + 3132.909, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 22289.6874, + 3132.909, + 3550.0 + ], + "actual_end_pos": [ + 22289.6874, + 3132.909, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 22289.6874, + 3132.909, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 22289.6874, + 3132.909, + 3550.0 + ], + "actual_end_pos": [ + 22289.6874, + 3132.909, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260409_134704__traj_000435_meta.json b/loop_easy/run_20260409_134704__traj_000435_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f1ec1e5f82ea608523a24937b3a2d6e39dfb1b02 --- /dev/null +++ b/loop_easy/run_20260409_134704__traj_000435_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 435, + "episode_id": 0, + "state_id": 330, + "sample_index": 330, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 23280.0, + 4630.0, + 3550.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "turn_left", + "move_backward", + "look_up", + "no_op", + "move_forward", + "move_forward", + "turn_left", + "move_backward", + "no_op", + "move_backward", + "no_op", + "move_left", + "move_left", + "look_down", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 23280.0, + 4630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23280.0, + 4730.0, + 3550.0 + ], + "actual_end_pos": [ + 23280.0, + 4730.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 23280.0, + 4730.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23280.0, + 4730.0, + 3550.0 + ], + "actual_end_pos": [ + 23280.0, + 4730.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 23280.0, + 4730.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 23376.5926, + 4704.1181, + 3550.0 + ], + "actual_end_pos": [ + 23376.5926, + 4704.1181, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 23376.5926, + 4704.1181, + 3550.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 23376.5926, + 4704.1181, + 3550.0 + ], + "actual_end_pos": [ + 23376.5926, + 4704.1181, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23376.5926, + 4704.1181, + 3550.0 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 23376.5926, + 4704.1181, + 3550.0 + ], + "actual_end_pos": [ + 23376.5926, + 4704.1181, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 23376.5926, + 4704.1181, + 3550.0 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 23280.8264, + 4729.7786, + 3563.0526 + ], + "actual_end_pos": [ + 23280.8264, + 4729.7786, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 23280.8264, + 4729.7786, + 3563.0526 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 23185.0601, + 4755.4391, + 3576.1052 + ], + "actual_end_pos": [ + 23185.0601, + 4755.4391, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 23185.0601, + 4755.4391, + 3576.1052 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 23185.0601, + 4755.4391, + 3576.1052 + ], + "actual_end_pos": [ + 23185.0601, + 4755.4391, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + 150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 23185.0601, + 4755.4391, + 3576.1052 + ], + "start_rot": [ + 7.5, + 150.0, + -0.0 + ], + "expected_end_pos": [ + 23270.9218, + 4705.8668, + 3563.0526 + ], + "actual_end_pos": [ + 23270.9218, + 4705.8668, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23270.9218, + 4705.8668, + 3563.0526 + ], + "start_rot": [ + 7.5, + 150.0, + -0.0 + ], + "expected_end_pos": [ + 23270.9218, + 4705.8668, + 3563.0526 + ], + "actual_end_pos": [ + 23270.9218, + 4705.8668, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 23270.9218, + 4705.8668, + 3563.0526 + ], + "start_rot": [ + 7.5, + 150.0, + -0.0 + ], + "expected_end_pos": [ + 23356.7834, + 4656.2946, + 3550.0 + ], + "actual_end_pos": [ + 23356.7834, + 4656.2946, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23356.7834, + 4656.2946, + 3550.0 + ], + "start_rot": [ + 7.5, + 150.0, + -0.0 + ], + "expected_end_pos": [ + 23356.7834, + 4656.2946, + 3550.0 + ], + "actual_end_pos": [ + 23356.7834, + 4656.2946, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 23356.7834, + 4656.2946, + 3550.0 + ], + "start_rot": [ + 7.5, + 150.0, + -0.0 + ], + "expected_end_pos": [ + 23406.7834, + 4742.8971, + 3550.0 + ], + "actual_end_pos": [ + 23406.7834, + 4742.8971, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 23406.7834, + 4742.8971, + 3550.0 + ], + "start_rot": [ + 7.5, + 150.0, + -0.0 + ], + "expected_end_pos": [ + 23456.7834, + 4829.4996, + 3550.0 + ], + "actual_end_pos": [ + 23456.7834, + 4829.4996, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 23456.7834, + 4829.4996, + 3550.0 + ], + "start_rot": [ + 7.5, + 150.0, + -0.0 + ], + "expected_end_pos": [ + 23456.7834, + 4829.4996, + 3550.0 + ], + "actual_end_pos": [ + 23456.7834, + 4829.4996, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 23456.7834, + 4829.4996, + 3550.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 23456.7834, + 4829.4996, + 3550.0 + ], + "actual_end_pos": [ + 23456.7834, + 4829.4996, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 23456.7834, + 4829.4996, + 3550.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 23456.7834, + 4829.4996, + 3550.0 + ], + "actual_end_pos": [ + 23456.7834, + 4829.4996, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 23456.7834, + 4829.4996, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23356.7834, + 4829.4997, + 3550.0 + ], + "actual_end_pos": [ + 23356.7834, + 4829.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 23356.7834, + 4829.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4829.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4829.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 23256.7834, + 4829.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4729.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4729.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 23256.7834, + 4729.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_pos": [ + 23256.7834, + 4629.4997, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260409_134704__traj_000493_meta.json b/loop_easy/run_20260409_134704__traj_000493_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e625f777ec718702b8b0b0f0ce1d3fde095d7657 --- /dev/null +++ b/loop_easy/run_20260409_134704__traj_000493_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 493, + "episode_id": 0, + "state_id": 375, + "sample_index": 375, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 23780.0, + 4130.0, + 3550.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_right", + "move_forward", + "turn_right", + "turn_right", + "move_right", + "turn_right", + "move_forward", + "turn_right", + "look_up", + "move_forward", + "move_right", + "move_forward", + "move_forward", + "move_left", + "turn_right", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "look_down", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 23780.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 23780.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 23780.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 23780.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 23876.5926, + 4155.8819, + 3550.0 + ], + "actual_end_pos": [ + 23876.5926, + 4155.8819, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 23876.5926, + 4155.8819, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 23902.4745, + 4059.2893, + 3550.0 + ], + "actual_end_pos": [ + 23902.4745, + 4059.2893, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 23902.4745, + 4059.2893, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 23902.4745, + 4059.2893, + 3550.0 + ], + "actual_end_pos": [ + 23902.4745, + 4059.2893, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 23902.4745, + 4059.2893, + 3550.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 23902.4745, + 4059.2893, + 3550.0 + ], + "actual_end_pos": [ + 23902.4745, + 4059.2893, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 23902.4745, + 4059.2893, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 23973.1852, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 23973.1852, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 23973.1852, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 23973.1852, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 23973.1852, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 23973.1852, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 24059.7877, + 4080.0, + 3550.0 + ], + "actual_end_pos": [ + 24059.7877, + 4080.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 24059.7877, + 4080.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 24059.7877, + 4080.0, + 3550.0 + ], + "actual_end_pos": [ + 24059.7877, + 4080.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 24059.7877, + 4080.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 24059.7877, + 4080.0, + 3550.0 + ], + "actual_end_pos": [ + 24059.7877, + 4080.0, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 24059.7877, + 4080.0, + 3550.0 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 24155.5539, + 4054.3395, + 3563.0526 + ], + "actual_end_pos": [ + 24155.5539, + 4054.3395, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 24155.5539, + 4054.3395, + 3563.0526 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 24181.4358, + 4150.9321, + 3563.0526 + ], + "actual_end_pos": [ + 24181.4358, + 4150.9321, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 24181.4358, + 4150.9321, + 3563.0526 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 24277.202, + 4125.2716, + 3576.1052 + ], + "actual_end_pos": [ + 24277.202, + 4125.2716, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 24277.202, + 4125.2716, + 3576.1052 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 24372.9683, + 4099.6111, + 3589.1579 + ], + "actual_end_pos": [ + 24372.9683, + 4099.6111, + 3589.1579 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 24372.9683, + 4099.6111, + 3589.1579 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 24347.0864, + 4003.0186, + 3589.1579 + ], + "actual_end_pos": [ + 24347.0864, + 4003.0186, + 3589.1579 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 24347.0864, + 4003.0186, + 3589.1579 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 24347.0864, + 4003.0186, + 3589.1579 + ], + "actual_end_pos": [ + 24347.0864, + 4003.0186, + 3589.1579 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 24347.0864, + 4003.0186, + 3589.1579 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "actual_end_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "actual_end_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "actual_end_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "actual_end_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "actual_end_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "actual_end_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "actual_end_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "actual_end_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 24347.0864, + 3903.0186, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 24347.0864, + 4003.0186, + 3589.1579 + ], + "actual_end_pos": [ + 24347.0864, + 4003.0186, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 24347.0864, + 4003.0186, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 24347.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_pos": [ + 24347.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 24347.0864, + 4103.0186, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 24247.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_pos": [ + 24247.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 24247.0864, + 4103.0186, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 24147.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_pos": [ + 24147.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 24147.0864, + 4103.0186, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 24047.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_pos": [ + 24047.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 24047.0864, + 4103.0186, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 23947.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_pos": [ + 23947.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 23947.0864, + 4103.0186, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 23847.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_pos": [ + 23847.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 23847.0864, + 4103.0186, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_pos": [ + 23747.0864, + 4103.0186, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260409_134704__traj_000630_meta.json b/loop_easy/run_20260409_134704__traj_000630_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c481a15dbb3c3415b0a4735a94e595d78f51d752 --- /dev/null +++ b/loop_easy/run_20260409_134704__traj_000630_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 630, + "episode_id": 0, + "state_id": 476, + "sample_index": 476, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 24780.0, + 4130.0, + 3550.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_forward", + "move_left", + "move_forward", + "move_forward", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_backward", + "move_left", + "move_forward", + "move_right", + "turn_left", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4230.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 24780.0, + 4230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4330.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4330.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 24780.0, + 4330.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24880.0, + 4330.0, + 3550.0 + ], + "actual_end_pos": [ + 24880.0, + 4330.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 24880.0, + 4330.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24880.0, + 4230.0, + 3550.0 + ], + "actual_end_pos": [ + 24880.0, + 4230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 24880.0, + 4230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24980.0, + 4230.0, + 3550.0 + ], + "actual_end_pos": [ + 24980.0, + 4230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 24980.0, + 4230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 25080.0, + 4230.0, + 3550.0 + ], + "actual_end_pos": [ + 25080.0, + 4230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 25080.0, + 4230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 25080.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 25080.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 25080.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "actual_end_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "actual_end_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "actual_end_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 24993.3975, + 4080.0, + 3550.0 + ], + "actual_end_pos": [ + 24993.3975, + 4080.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 24993.3975, + 4080.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 24943.3975, + 3993.3975, + 3550.0 + ], + "actual_end_pos": [ + 24943.3975, + 3993.3975, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 24943.3975, + 3993.3975, + 3550.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 25030.0, + 3943.3975, + 3550.0 + ], + "actual_end_pos": [ + 25030.0, + 3943.3975, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 25030.0, + 3943.3975, + 3550.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "actual_end_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "actual_end_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "actual_end_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "actual_end_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "actual_end_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 25080.0, + 4030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24980.0, + 4030.0, + 3550.0 + ], + "actual_end_pos": [ + 24980.0, + 4030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 24980.0, + 4030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24880.0, + 4030.0, + 3550.0 + ], + "actual_end_pos": [ + 24880.0, + 4030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 24880.0, + 4030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4030.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 24780.0, + 4030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 24780.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000005_meta.json b/loop_easy/run_20260410_112607__traj_000005_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7f65b9ff37ab1ba2e2ffb9f94490e637d65f5cef --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000005_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 5, + "episode_id": 0, + "state_id": 3, + "sample_index": 3, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 12100.0, + 2130.0, + 3550.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "move_right", + "move_forward", + "move_right", + "turn_left", + "look_up", + "look_up", + "move_forward", + "move_right", + "move_forward", + "move_forward", + "turn_right", + "move_right", + "turn_right", + "move_backward", + "move_right", + "turn_left", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 12100.0, + 2130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12100.0, + 2130.0, + 3550.0 + ], + "actual_end_pos": [ + 12100.0, + 2130.0, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12100.0, + 2130.0, + 3550.0 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12200.0, + 2130.0, + 3550.0 + ], + "actual_end_pos": [ + 12200.0, + 2130.0, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12200.0, + 2130.0, + 3550.0 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12200.0, + 2030.8555, + 3536.9474 + ], + "actual_end_pos": [ + 12200.0, + 2030.8555, + 3536.9474 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12200.0, + 2030.8555, + 3536.9474 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12300.0, + 2030.8555, + 3536.9474 + ], + "actual_end_pos": [ + 12300.0, + 2030.8555, + 3536.9474 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12300.0, + 2030.8555, + 3536.9474 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12300.0, + 2030.8555, + 3536.9474 + ], + "actual_end_pos": [ + 12300.0, + 2030.8555, + 3536.9474 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 12300.0, + 2030.8555, + 3536.9474 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12300.0, + 2030.8555, + 3536.9474 + ], + "actual_end_pos": [ + 12300.0, + 2030.8555, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 12300.0, + 2030.8555, + 3536.9474 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12300.0, + 2030.8555, + 3536.9474 + ], + "actual_end_pos": [ + 12300.0, + 2030.8555, + 3536.9474 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12300.0, + 2030.8555, + 3536.9474 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12274.3395, + 1935.0893, + 3550.0 + ], + "actual_end_pos": [ + 12274.3395, + 1935.0893, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12274.3395, + 1935.0893, + 3550.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12370.9321, + 1909.2074, + 3550.0 + ], + "actual_end_pos": [ + 12370.9321, + 1909.2074, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12370.9321, + 1909.2074, + 3550.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12345.2716, + 1813.4412, + 3563.0526 + ], + "actual_end_pos": [ + 12345.2716, + 1813.4412, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12345.2716, + 1813.4412, + 3563.0526 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12319.6111, + 1717.675, + 3576.1052 + ], + "actual_end_pos": [ + 12319.6111, + 1717.675, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 12319.6111, + 1717.675, + 3576.1052 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12319.6111, + 1717.675, + 3576.1052 + ], + "actual_end_pos": [ + 12319.6111, + 1717.675, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12319.6111, + 1717.675, + 3576.1052 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12419.6111, + 1717.675, + 3576.1052 + ], + "actual_end_pos": [ + 12419.6111, + 1717.675, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 12419.6111, + 1717.675, + 3576.1052 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12419.6111, + 1717.675, + 3576.1052 + ], + "actual_end_pos": [ + 12419.6111, + 1717.675, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12419.6111, + 1717.675, + 3576.1052 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 12393.9507, + 1813.4412, + 3563.0526 + ], + "actual_end_pos": [ + 12393.9507, + 1813.4412, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12393.9507, + 1813.4412, + 3563.0526 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 12490.5432, + 1839.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12490.5432, + 1839.3231, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12490.5432, + 1839.3231, + 3563.0526 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 12490.5432, + 1839.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12490.5432, + 1839.3231, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 12490.5432, + 1839.3231, + 3563.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12490.5432, + 1839.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12490.5432, + 1839.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12490.5432, + 1839.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12490.5432, + 1939.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12490.5432, + 1939.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12490.5432, + 1939.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12490.5432, + 2039.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12490.5432, + 2039.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12490.5432, + 2039.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12490.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12490.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12490.5432, + 2139.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12390.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12390.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12390.5432, + 2139.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12290.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12290.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12290.5432, + 2139.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12190.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12190.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12190.5432, + 2139.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_pos": [ + 12090.5432, + 2139.3231, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000061_meta.json b/loop_easy/run_20260410_112607__traj_000061_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a4eead2677336fa261689d9f1ecc5eaff05aa06b --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000061_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 61, + "episode_id": 0, + "state_id": 39, + "sample_index": 39, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 12100.0, + 6630.0, + 3550.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_left", + "move_backward", + "move_right", + "turn_left", + "look_down", + "move_right", + "move_forward", + "look_up", + "look_up", + "turn_right", + "move_backward", + "move_backward", + "move_right", + "turn_left", + "move_left", + "move_forward", + "no_op", + "move_forward", + "move_forward", + "no_op", + "turn_right", + "look_down", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12100.0, + 6630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12100.0, + 6530.0, + 3550.0 + ], + "actual_end_pos": [ + 12100.0, + 6530.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12100.0, + 6530.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12000.0, + 6530.0, + 3550.0 + ], + "actual_end_pos": [ + 12000.0, + 6530.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12000.0, + 6530.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12000.0, + 6630.0, + 3550.0 + ], + "actual_end_pos": [ + 12000.0, + 6630.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12000.0, + 6630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12100.0, + 6630.0, + 3550.0 + ], + "actual_end_pos": [ + 12100.0, + 6630.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12100.0, + 6630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12100.0, + 6630.0, + 3550.0 + ], + "actual_end_pos": [ + 12100.0, + 6630.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 12100.0, + 6630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12100.0, + 6630.0, + 3550.0 + ], + "actual_end_pos": [ + 12100.0, + 6630.0, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12100.0, + 6630.0, + 3550.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12196.5926, + 6604.1181, + 3550.0 + ], + "actual_end_pos": [ + 12196.5926, + 6604.1181, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12196.5926, + 6604.1181, + 3550.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12170.9321, + 6508.3519, + 3536.9474 + ], + "actual_end_pos": [ + 12170.9321, + 6508.3519, + 3536.9474 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 12170.9321, + 6508.3519, + 3536.9474 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12170.9321, + 6508.3519, + 3536.9474 + ], + "actual_end_pos": [ + 12170.9321, + 6508.3519, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 12170.9321, + 6508.3519, + 3536.9474 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12170.9321, + 6508.3519, + 3536.9474 + ], + "actual_end_pos": [ + 12170.9321, + 6508.3519, + 3536.9474 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 12170.9321, + 6508.3519, + 3536.9474 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12170.9321, + 6508.3519, + 3536.9474 + ], + "actual_end_pos": [ + 12170.9321, + 6508.3519, + 3536.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12170.9321, + 6508.3519, + 3536.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12170.9321, + 6607.4964, + 3523.8948 + ], + "actual_end_pos": [ + 12170.9321, + 6607.4964, + 3523.8948 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12170.9321, + 6607.4964, + 3523.8948 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12170.9321, + 6706.6408, + 3510.8421 + ], + "actual_end_pos": [ + 12170.9321, + 6706.6408, + 3510.8421 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12170.9321, + 6706.6408, + 3510.8421 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12270.9321, + 6706.6409, + 3510.8421 + ], + "actual_end_pos": [ + 12270.9321, + 6706.6409, + 3510.8421 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12270.9321, + 6706.6409, + 3510.8421 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12270.9321, + 6706.6409, + 3510.8421 + ], + "actual_end_pos": [ + 12270.9321, + 6706.6409, + 3510.8421 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12270.9321, + 6706.6409, + 3510.8421 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12174.3395, + 6732.5228, + 3510.8421 + ], + "actual_end_pos": [ + 12174.3395, + 6732.5228, + 3510.8421 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12174.3395, + 6732.5228, + 3510.8421 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12148.679, + 6636.7565, + 3523.8948 + ], + "actual_end_pos": [ + 12148.679, + 6636.7565, + 3523.8948 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12148.679, + 6636.7565, + 3523.8948 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12148.679, + 6636.7565, + 3523.8948 + ], + "actual_end_pos": [ + 12148.679, + 6636.7565, + 3523.8948 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12148.679, + 6636.7565, + 3523.8948 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12123.0186, + 6540.9903, + 3536.9474 + ], + "actual_end_pos": [ + 12123.0186, + 6540.9903, + 3536.9474 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12123.0186, + 6540.9903, + 3536.9474 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12097.3581, + 6445.2241, + 3550.0 + ], + "actual_end_pos": [ + 12097.3581, + 6445.2241, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12097.3581, + 6445.2241, + 3550.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12097.3581, + 6445.2241, + 3550.0 + ], + "actual_end_pos": [ + 12097.3581, + 6445.2241, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 12097.3581, + 6445.2241, + 3550.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12097.3581, + 6445.2241, + 3550.0 + ], + "actual_end_pos": [ + 12097.3581, + 6445.2241, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 12097.3581, + 6445.2241, + 3550.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12097.3581, + 6445.2241, + 3550.0 + ], + "actual_end_pos": [ + 12097.3581, + 6445.2241, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12097.3581, + 6445.2241, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12097.3581, + 6545.2241, + 3550.0 + ], + "actual_end_pos": [ + 12097.3581, + 6545.2241, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12097.3581, + 6545.2241, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_pos": [ + 12097.3581, + 6645.2241, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000077_meta.json b/loop_easy/run_20260410_112607__traj_000077_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..da76fa810760f883ce138fc1e73bd04e69546a47 --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000077_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 77, + "episode_id": 0, + "state_id": 52, + "sample_index": 52, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 12600.0, + 2130.0, + 3550.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_forward", + "move_forward", + "turn_left", + "move_left", + "move_left", + "turn_left", + "move_right", + "move_forward", + "move_forward", + "move_left", + "move_left", + "turn_right", + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_forward", + "move_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12600.0, + 2130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12500.0, + 2130.0, + 3550.0 + ], + "actual_end_pos": [ + 12500.0, + 2130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12500.0, + 2130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12500.0, + 2030.0, + 3550.0 + ], + "actual_end_pos": [ + 12500.0, + 2030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12500.0, + 2030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12500.0, + 1930.0, + 3550.0 + ], + "actual_end_pos": [ + 12500.0, + 1930.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12500.0, + 1930.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12500.0, + 1830.0, + 3550.0 + ], + "actual_end_pos": [ + 12500.0, + 1830.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12500.0, + 1830.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12500.0, + 1730.0, + 3550.0 + ], + "actual_end_pos": [ + 12500.0, + 1730.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12500.0, + 1730.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12600.0, + 1730.0, + 3550.0 + ], + "actual_end_pos": [ + 12600.0, + 1730.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12600.0, + 1730.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12700.0, + 1730.0, + 3550.0 + ], + "actual_end_pos": [ + 12700.0, + 1730.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12700.0, + 1730.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12700.0, + 1730.0, + 3550.0 + ], + "actual_end_pos": [ + 12700.0, + 1730.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12700.0, + 1730.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 12674.1181, + 1633.4074, + 3550.0 + ], + "actual_end_pos": [ + 12674.1181, + 1633.4074, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12674.1181, + 1633.4074, + 3550.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 12648.2362, + 1536.8148, + 3550.0 + ], + "actual_end_pos": [ + 12648.2362, + 1536.8148, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12648.2362, + 1536.8148, + 3550.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 12648.2362, + 1536.8148, + 3550.0 + ], + "actual_end_pos": [ + 12648.2362, + 1536.8148, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12648.2362, + 1536.8148, + 3550.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 12698.2362, + 1623.4174, + 3550.0 + ], + "actual_end_pos": [ + 12698.2362, + 1623.4174, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12698.2362, + 1623.4174, + 3550.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 12784.8387, + 1573.4174, + 3550.0 + ], + "actual_end_pos": [ + 12784.8387, + 1573.4174, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12784.8387, + 1573.4174, + 3550.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 12871.4413, + 1523.4174, + 3550.0 + ], + "actual_end_pos": [ + 12871.4413, + 1523.4174, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12871.4413, + 1523.4174, + 3550.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 12821.4413, + 1436.8148, + 3550.0 + ], + "actual_end_pos": [ + 12821.4413, + 1436.8148, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12821.4413, + 1436.8148, + 3550.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 12771.4413, + 1350.2123, + 3550.0 + ], + "actual_end_pos": [ + 12771.4413, + 1350.2123, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 12771.4413, + 1350.2123, + 3550.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 12771.4413, + 1350.2123, + 3550.0 + ], + "actual_end_pos": [ + 12771.4413, + 1350.2123, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12771.4413, + 1350.2123, + 3550.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 12868.0339, + 1324.3304, + 3550.0 + ], + "actual_end_pos": [ + 12868.0339, + 1324.3304, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12868.0339, + 1324.3304, + 3550.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 12964.6264, + 1298.4485, + 3550.0 + ], + "actual_end_pos": [ + 12964.6264, + 1298.4485, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12964.6264, + 1298.4485, + 3550.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 12990.5083, + 1395.0411, + 3550.0 + ], + "actual_end_pos": [ + 12990.5083, + 1395.0411, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12990.5083, + 1395.0411, + 3550.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 13016.3902, + 1491.6337, + 3550.0 + ], + "actual_end_pos": [ + 13016.3902, + 1491.6337, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13016.3902, + 1491.6337, + 3550.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 13112.9828, + 1465.7517, + 3550.0 + ], + "actual_end_pos": [ + 13112.9828, + 1465.7517, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13112.9828, + 1465.7517, + 3550.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 13138.8647, + 1562.3443, + 3550.0 + ], + "actual_end_pos": [ + 13138.8647, + 1562.3443, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13138.8647, + 1562.3443, + 3550.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 13138.8647, + 1562.3443, + 3550.0 + ], + "actual_end_pos": [ + 13138.8647, + 1562.3443, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13138.8647, + 1562.3443, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 13038.8647, + 1562.3443, + 3550.0 + ], + "actual_end_pos": [ + 13038.8647, + 1562.3443, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13038.8647, + 1562.3443, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12938.8647, + 1562.3443, + 3550.0 + ], + "actual_end_pos": [ + 12938.8647, + 1562.3443, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12938.8647, + 1562.3443, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12838.8647, + 1562.3443, + 3550.0 + ], + "actual_end_pos": [ + 12838.8647, + 1562.3443, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12838.8647, + 1562.3443, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12738.8647, + 1562.3443, + 3550.0 + ], + "actual_end_pos": [ + 12738.8647, + 1562.3443, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12738.8647, + 1562.3443, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12638.8647, + 1562.3443, + 3550.0 + ], + "actual_end_pos": [ + 12638.8647, + 1562.3443, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12638.8647, + 1562.3443, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12638.8647, + 1662.3443, + 3550.0 + ], + "actual_end_pos": [ + 12638.8647, + 1662.3443, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12638.8647, + 1662.3443, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12638.8647, + 1762.3443, + 3550.0 + ], + "actual_end_pos": [ + 12638.8647, + 1762.3443, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12638.8647, + 1762.3443, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12638.8647, + 1862.3443, + 3550.0 + ], + "actual_end_pos": [ + 12638.8647, + 1862.3443, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12638.8647, + 1862.3443, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12638.8647, + 1962.3443, + 3550.0 + ], + "actual_end_pos": [ + 12638.8647, + 1962.3443, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12638.8647, + 1962.3443, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12638.8647, + 2062.3443, + 3550.0 + ], + "actual_end_pos": [ + 12638.8647, + 2062.3443, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12638.8647, + 2062.3443, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12638.8647, + 2162.3443, + 3550.0 + ], + "actual_end_pos": [ + 12638.8647, + 2162.3443, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12638.8647, + 2162.3443, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12638.8647, + 2162.3443, + 3550.0 + ], + "actual_end_pos": [ + 12638.8647, + 2162.3443, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12638.8647, + 2162.3443, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12638.8647, + 2162.3443, + 3550.0 + ], + "actual_end_pos": [ + 12638.8647, + 2162.3443, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12638.8647, + 2162.3443, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12638.8647, + 2162.3443, + 3550.0 + ], + "actual_end_pos": [ + 12638.8647, + 2162.3443, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12638.8647, + 2162.3443, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12638.8647, + 2162.3443, + 3550.0 + ], + "actual_end_pos": [ + 12638.8647, + 2162.3443, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12638.8647, + 2162.3443, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12638.8647, + 2162.3443, + 3550.0 + ], + "actual_end_pos": [ + 12638.8647, + 2162.3443, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000093_meta.json b/loop_easy/run_20260410_112607__traj_000093_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..41198feac65da1e668522345e8d4f9983f9bb6c8 --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000093_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 93, + "episode_id": 0, + "state_id": 65, + "sample_index": 65, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 12600.0, + 3630.0, + 3550.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_backward", + "move_left", + "no_op", + "move_left", + "move_backward", + "move_right", + "move_right", + "no_op", + "move_forward", + "turn_right", + "no_op", + "move_left", + "look_down", + "move_forward", + "turn_left", + "look_up", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12600.0, + 3630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12500.0, + 3630.0, + 3550.0 + ], + "actual_end_pos": [ + 12500.0, + 3630.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12500.0, + 3630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12500.0, + 3530.0, + 3550.0 + ], + "actual_end_pos": [ + 12500.0, + 3530.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12500.0, + 3530.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12600.0, + 3530.0, + 3550.0 + ], + "actual_end_pos": [ + 12600.0, + 3530.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12600.0, + 3530.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12600.0, + 3530.0, + 3550.0 + ], + "actual_end_pos": [ + 12600.0, + 3530.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12600.0, + 3530.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12700.0, + 3530.0, + 3550.0 + ], + "actual_end_pos": [ + 12700.0, + 3530.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12700.0, + 3530.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12700.0, + 3430.0, + 3550.0 + ], + "actual_end_pos": [ + 12700.0, + 3430.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12700.0, + 3430.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12600.0, + 3430.0, + 3550.0 + ], + "actual_end_pos": [ + 12600.0, + 3430.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12600.0, + 3430.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12500.0, + 3430.0, + 3550.0 + ], + "actual_end_pos": [ + 12500.0, + 3430.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12500.0, + 3430.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12500.0, + 3430.0, + 3550.0 + ], + "actual_end_pos": [ + 12500.0, + 3430.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12500.0, + 3430.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12500.0, + 3530.0, + 3550.0 + ], + "actual_end_pos": [ + 12500.0, + 3530.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 12500.0, + 3530.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12500.0, + 3530.0, + 3550.0 + ], + "actual_end_pos": [ + 12500.0, + 3530.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12500.0, + 3530.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 12500.0, + 3530.0, + 3550.0 + ], + "actual_end_pos": [ + 12500.0, + 3530.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12500.0, + 3530.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 12596.5926, + 3555.8819, + 3550.0 + ], + "actual_end_pos": [ + 12596.5926, + 3555.8819, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 12596.5926, + 3555.8819, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 12596.5926, + 3555.8819, + 3550.0 + ], + "actual_end_pos": [ + 12596.5926, + 3555.8819, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12596.5926, + 3555.8819, + 3550.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_pos": [ + 12570.9321, + 3651.6481, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000103_meta.json b/loop_easy/run_20260410_112607__traj_000103_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0dc9641cd6109d8f9cb27fb57b0417803a21778d --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000103_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 103, + "episode_id": 0, + "state_id": 72, + "sample_index": 72, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 12600.0, + 4630.0, + 3550.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_right", + "move_forward", + "move_forward", + "move_left", + "move_left", + "look_up", + "turn_right", + "move_forward", + "move_right", + "move_right", + "move_backward", + "turn_right", + "move_right", + "turn_left", + "turn_left", + "look_down", + "move_left", + "look_down", + "move_left", + "turn_left", + "look_down", + "look_down", + "turn_right", + "look_up", + "look_up", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12600.0, + 4630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12700.0, + 4630.0, + 3550.0 + ], + "actual_end_pos": [ + 12700.0, + 4630.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12700.0, + 4630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12700.0, + 4730.0, + 3550.0 + ], + "actual_end_pos": [ + 12700.0, + 4730.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12700.0, + 4730.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12800.0, + 4730.0, + 3550.0 + ], + "actual_end_pos": [ + 12800.0, + 4730.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12800.0, + 4730.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12900.0, + 4730.0, + 3550.0 + ], + "actual_end_pos": [ + 12900.0, + 4730.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12900.0, + 4730.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12900.0, + 4630.0, + 3550.0 + ], + "actual_end_pos": [ + 12900.0, + 4630.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12900.0, + 4630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12900.0, + 4530.0, + 3550.0 + ], + "actual_end_pos": [ + 12900.0, + 4530.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 12900.0, + 4530.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12900.0, + 4530.0, + 3550.0 + ], + "actual_end_pos": [ + 12900.0, + 4530.0, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 12900.0, + 4530.0, + 3550.0 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12900.0, + 4530.0, + 3550.0 + ], + "actual_end_pos": [ + 12900.0, + 4530.0, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12900.0, + 4530.0, + 3550.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 12995.7662, + 4555.6605, + 3563.0526 + ], + "actual_end_pos": [ + 12995.7662, + 4555.6605, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12995.7662, + 4555.6605, + 3563.0526 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 12969.8843, + 4652.2531, + 3563.0526 + ], + "actual_end_pos": [ + 12969.8843, + 4652.2531, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12969.8843, + 4652.2531, + 3563.0526 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 12944.0024, + 4748.8456, + 3563.0526 + ], + "actual_end_pos": [ + 12944.0024, + 4748.8456, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12944.0024, + 4748.8456, + 3563.0526 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 12848.2362, + 4723.1852, + 3550.0 + ], + "actual_end_pos": [ + 12848.2362, + 4723.1852, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 12848.2362, + 4723.1852, + 3550.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 12848.2362, + 4723.1852, + 3550.0 + ], + "actual_end_pos": [ + 12848.2362, + 4723.1852, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12848.2362, + 4723.1852, + 3550.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 12798.2362, + 4809.7877, + 3550.0 + ], + "actual_end_pos": [ + 12798.2362, + 4809.7877, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12798.2362, + 4809.7877, + 3550.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 12798.2362, + 4809.7877, + 3550.0 + ], + "actual_end_pos": [ + 12798.2362, + 4809.7877, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12798.2362, + 4809.7877, + 3550.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 12798.2362, + 4809.7877, + 3550.0 + ], + "actual_end_pos": [ + 12798.2362, + 4809.7877, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 12798.2362, + 4809.7877, + 3550.0 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 12798.2362, + 4809.7877, + 3550.0 + ], + "actual_end_pos": [ + 12798.2362, + 4809.7877, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12798.2362, + 4809.7877, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12798.2362, + 4709.7877, + 3550.0 + ], + "actual_end_pos": [ + 12798.2362, + 4709.7877, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 12798.2362, + 4709.7877, + 3550.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12798.2362, + 4709.7877, + 3550.0 + ], + "actual_end_pos": [ + 12798.2362, + 4709.7877, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12798.2362, + 4709.7877, + 3550.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12798.2362, + 4609.7877, + 3550.0 + ], + "actual_end_pos": [ + 12798.2362, + 4609.7877, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12798.2362, + 4609.7877, + 3550.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12798.2362, + 4609.7877, + 3550.0 + ], + "actual_end_pos": [ + 12798.2362, + 4609.7877, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 12798.2362, + 4609.7877, + 3550.0 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 12798.2362, + 4609.7877, + 3550.0 + ], + "actual_end_pos": [ + 12798.2362, + 4609.7877, + 3550.0 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 12798.2362, + 4609.7877, + 3550.0 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 12798.2362, + 4609.7877, + 3550.0 + ], + "actual_end_pos": [ + 12798.2362, + 4609.7877, + 3550.0 + ], + "actual_end_rot": [ + -22.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 12798.2362, + 4609.7877, + 3550.0 + ], + "start_rot": [ + -22.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 12798.2362, + 4609.7877, + 3550.0 + ], + "actual_end_pos": [ + 12798.2362, + 4609.7877, + 3550.0 + ], + "actual_end_rot": [ + -22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 12798.2362, + 4609.7877, + 3550.0 + ], + "start_rot": [ + -22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12798.2362, + 4609.7877, + 3550.0 + ], + "actual_end_pos": [ + 12798.2362, + 4609.7877, + 3550.0 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 12798.2362, + 4609.7877, + 3550.0 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12798.2362, + 4609.7877, + 3550.0 + ], + "actual_end_pos": [ + 12798.2362, + 4609.7877, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12798.2362, + 4609.7877, + 3550.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12699.0917, + 4609.7877, + 3563.0526 + ], + "actual_end_pos": [ + 12699.0917, + 4609.7877, + 3563.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12699.0917, + 4609.7877, + 3563.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_pos": [ + 12599.9472, + 4609.7877, + 3576.1052 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000104_meta.json b/loop_easy/run_20260410_112607__traj_000104_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..483858688097fb78410e40213b90847f2cb7faff --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000104_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 104, + "episode_id": 0, + "state_id": 73, + "sample_index": 73, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 12600.0, + 4630.0, + 3550.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "look_up", + "move_left", + "move_forward", + "move_right", + "move_forward", + "look_down", + "move_left", + "move_forward", + "move_right", + "move_right", + "move_right", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_right", + "move_right", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 12600.0, + 4630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12600.0, + 4630.0, + 3550.0 + ], + "actual_end_pos": [ + 12600.0, + 4630.0, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12600.0, + 4630.0, + 3550.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12700.0, + 4630.0, + 3550.0 + ], + "actual_end_pos": [ + 12700.0, + 4630.0, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12700.0, + 4630.0, + 3550.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12700.0, + 4729.1445, + 3563.0526 + ], + "actual_end_pos": [ + 12700.0, + 4729.1445, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12700.0, + 4729.1445, + 3563.0526 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12600.0, + 4729.1445, + 3563.0526 + ], + "actual_end_pos": [ + 12600.0, + 4729.1445, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12600.0, + 4729.1445, + 3563.0526 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12600.0, + 4828.289, + 3576.1052 + ], + "actual_end_pos": [ + 12600.0, + 4828.289, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 12600.0, + 4828.289, + 3576.1052 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12600.0, + 4828.289, + 3576.1052 + ], + "actual_end_pos": [ + 12600.0, + 4828.289, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12600.0, + 4828.289, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12700.0, + 4828.289, + 3576.1052 + ], + "actual_end_pos": [ + 12700.0, + 4828.289, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12700.0, + 4828.289, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12700.0, + 4928.289, + 3576.1052 + ], + "actual_end_pos": [ + 12700.0, + 4928.289, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12700.0, + 4928.289, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12600.0, + 4928.289, + 3576.1052 + ], + "actual_end_pos": [ + 12600.0, + 4928.289, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12600.0, + 4928.289, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12500.0, + 4928.289, + 3576.1052 + ], + "actual_end_pos": [ + 12500.0, + 4928.289, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12500.0, + 4928.289, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12400.0, + 4928.289, + 3576.1052 + ], + "actual_end_pos": [ + 12400.0, + 4928.289, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12400.0, + 4928.289, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12400.0, + 4828.289, + 3576.1052 + ], + "actual_end_pos": [ + 12400.0, + 4828.289, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12400.0, + 4828.289, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12400.0, + 4728.289, + 3576.1052 + ], + "actual_end_pos": [ + 12400.0, + 4728.289, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 12400.0, + 4728.289, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12400.0, + 4728.289, + 3576.1052 + ], + "actual_end_pos": [ + 12400.0, + 4728.289, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 12400.0, + 4728.289, + 3576.1052 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 12400.0, + 4728.289, + 3576.1052 + ], + "actual_end_pos": [ + 12400.0, + 4728.289, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12400.0, + 4728.289, + 3576.1052 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 12350.0, + 4814.8915, + 3576.1052 + ], + "actual_end_pos": [ + 12350.0, + 4814.8915, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12350.0, + 4814.8915, + 3576.1052 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 12300.0, + 4901.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12300.0, + 4901.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12300.0, + 4901.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 12213.3975, + 4851.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12213.3975, + 4851.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12213.3975, + 4851.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 12126.7949, + 4801.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12126.7949, + 4801.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12126.7949, + 4801.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 12126.7949, + 4801.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12126.7949, + 4801.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12126.7949, + 4801.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 12126.7949, + 4801.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12126.7949, + 4801.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12126.7949, + 4801.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12126.7949, + 4701.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12126.7949, + 4701.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12126.7949, + 4701.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12126.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12126.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12126.7949, + 4601.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12226.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12226.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12226.7949, + 4601.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12326.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12326.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12326.7949, + 4601.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12426.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12426.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12426.7949, + 4601.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12526.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12526.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12526.7949, + 4601.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_pos": [ + 12626.7949, + 4601.4941, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000147_meta.json b/loop_easy/run_20260410_112607__traj_000147_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7748314fea015d4eea45c3a2468fd4e8411a5833 --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000147_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 147, + "episode_id": 0, + "state_id": 105, + "sample_index": 105, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 13100.0, + 2130.0, + 3550.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "look_up", + "move_backward", + "turn_left", + "move_right", + "no_op", + "turn_left", + "move_backward", + "turn_left", + "move_backward", + "turn_left", + "move_forward", + "turn_left", + "move_left", + "move_left", + "turn_left", + "move_left", + "move_forward", + "no_op", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_forward", + "turn_right", + "look_down", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13100.0, + 2130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13100.0, + 2130.0, + 3550.0 + ], + "actual_end_pos": [ + 13100.0, + 2130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 13100.0, + 2130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13100.0, + 2130.0, + 3550.0 + ], + "actual_end_pos": [ + 13100.0, + 2130.0, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13100.0, + 2130.0, + 3550.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13100.0, + 2030.8555, + 3536.9474 + ], + "actual_end_pos": [ + 13100.0, + 2030.8555, + 3536.9474 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13100.0, + 2030.8555, + 3536.9474 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13100.0, + 2030.8555, + 3536.9474 + ], + "actual_end_pos": [ + 13100.0, + 2030.8555, + 3536.9474 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13100.0, + 2030.8555, + 3536.9474 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + 13003.4074, + 2056.7374, + 3536.9474 + ], + "actual_end_pos": [ + 13003.4074, + 2056.7374, + 3536.9474 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13003.4074, + 2056.7374, + 3536.9474 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + 13003.4074, + 2056.7374, + 3536.9474 + ], + "actual_end_pos": [ + 13003.4074, + 2056.7374, + 3536.9474 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13003.4074, + 2056.7374, + 3536.9474 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + 13003.4074, + 2056.7374, + 3536.9474 + ], + "actual_end_pos": [ + 13003.4074, + 2056.7374, + 3536.9474 + ], + "actual_end_rot": [ + 7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13003.4074, + 2056.7374, + 3536.9474 + ], + "start_rot": [ + 7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 12953.8352, + 1970.8758, + 3523.8948 + ], + "actual_end_pos": [ + 12953.8352, + 1970.8758, + 3523.8948 + ], + "actual_end_rot": [ + 7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12953.8352, + 1970.8758, + 3523.8948 + ], + "start_rot": [ + 7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 12953.8352, + 1970.8758, + 3523.8948 + ], + "actual_end_pos": [ + 12953.8352, + 1970.8758, + 3523.8948 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12953.8352, + 1970.8758, + 3523.8948 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 12883.7294, + 1900.77, + 3510.8421 + ], + "actual_end_pos": [ + 12883.7294, + 1900.77, + 3510.8421 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12883.7294, + 1900.77, + 3510.8421 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 12883.7294, + 1900.77, + 3510.8421 + ], + "actual_end_pos": [ + 12883.7294, + 1900.77, + 3510.8421 + ], + "actual_end_rot": [ + 7.5, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12883.7294, + 1900.77, + 3510.8421 + ], + "start_rot": [ + 7.5, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 12969.5911, + 1950.3423, + 3523.8948 + ], + "actual_end_pos": [ + 12969.5911, + 1950.3423, + 3523.8948 + ], + "actual_end_rot": [ + 7.5, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12969.5911, + 1950.3423, + 3523.8948 + ], + "start_rot": [ + 7.5, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 12969.5911, + 1950.3423, + 3523.8948 + ], + "actual_end_pos": [ + 12969.5911, + 1950.3423, + 3523.8948 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12969.5911, + 1950.3423, + 3523.8948 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 12995.473, + 1853.7497, + 3523.8948 + ], + "actual_end_pos": [ + 12995.473, + 1853.7497, + 3523.8948 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12995.473, + 1853.7497, + 3523.8948 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 13021.3549, + 1757.1571, + 3523.8948 + ], + "actual_end_pos": [ + 13021.3549, + 1757.1571, + 3523.8948 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13021.3549, + 1757.1571, + 3523.8948 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 13021.3549, + 1757.1571, + 3523.8948 + ], + "actual_end_pos": [ + 13021.3549, + 1757.1571, + 3523.8948 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13021.3549, + 1757.1571, + 3523.8948 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 13021.3549, + 1657.1571, + 3523.8948 + ], + "actual_end_pos": [ + 13021.3549, + 1657.1571, + 3523.8948 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13021.3549, + 1657.1571, + 3523.8948 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 13120.4994, + 1657.1571, + 3536.9474 + ], + "actual_end_pos": [ + 13120.4994, + 1657.1571, + 3536.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13120.4994, + 1657.1571, + 3536.9474 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 13120.4994, + 1657.1571, + 3536.9474 + ], + "actual_end_pos": [ + 13120.4994, + 1657.1571, + 3536.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13120.4994, + 1657.1571, + 3536.9474 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 13120.4994, + 1557.1571, + 3536.9474 + ], + "actual_end_pos": [ + 13120.4994, + 1557.1571, + 3536.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13120.4994, + 1557.1571, + 3536.9474 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 13120.4994, + 1457.1571, + 3536.9474 + ], + "actual_end_pos": [ + 13120.4994, + 1457.1571, + 3536.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13120.4994, + 1457.1571, + 3536.9474 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 13120.4994, + 1357.1571, + 3536.9474 + ], + "actual_end_pos": [ + 13120.4994, + 1357.1571, + 3536.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13120.4994, + 1357.1571, + 3536.9474 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 13120.4994, + 1357.1571, + 3536.9474 + ], + "actual_end_pos": [ + 13120.4994, + 1357.1571, + 3536.9474 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13120.4994, + 1357.1571, + 3536.9474 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 13216.2656, + 1382.8176, + 3550.0 + ], + "actual_end_pos": [ + 13216.2656, + 1382.8176, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13216.2656, + 1382.8176, + 3550.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 13216.2656, + 1382.8176, + 3550.0 + ], + "actual_end_pos": [ + 13216.2656, + 1382.8176, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 13216.2656, + 1382.8176, + 3550.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 13216.2656, + 1382.8176, + 3550.0 + ], + "actual_end_pos": [ + 13216.2656, + 1382.8176, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13216.2656, + 1382.8176, + 3550.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 13216.2656, + 1382.8176, + 3550.0 + ], + "actual_end_pos": [ + 13216.2656, + 1382.8176, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13216.2656, + 1382.8176, + 3550.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13216.2656, + 1382.8176, + 3550.0 + ], + "actual_end_pos": [ + 13216.2656, + 1382.8176, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13216.2656, + 1382.8176, + 3550.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 13216.2656, + 1382.8176, + 3550.0 + ], + "actual_end_pos": [ + 13216.2656, + 1382.8176, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13216.2656, + 1382.8176, + 3550.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 13216.2656, + 1382.8176, + 3550.0 + ], + "actual_end_pos": [ + 13216.2656, + 1382.8176, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13216.2656, + 1382.8176, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13216.2656, + 1482.8176, + 3550.0 + ], + "actual_end_pos": [ + 13216.2656, + 1482.8176, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13216.2656, + 1482.8176, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13216.2656, + 1582.8176, + 3550.0 + ], + "actual_end_pos": [ + 13216.2656, + 1582.8176, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13216.2656, + 1582.8176, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13216.2656, + 1682.8176, + 3550.0 + ], + "actual_end_pos": [ + 13216.2656, + 1682.8176, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13216.2656, + 1682.8176, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13216.2656, + 1782.8176, + 3550.0 + ], + "actual_end_pos": [ + 13216.2656, + 1782.8176, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13216.2656, + 1782.8176, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13216.2656, + 1882.8176, + 3550.0 + ], + "actual_end_pos": [ + 13216.2656, + 1882.8176, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13216.2656, + 1882.8176, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13216.2656, + 1982.8176, + 3550.0 + ], + "actual_end_pos": [ + 13216.2656, + 1982.8176, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13216.2656, + 1982.8176, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13216.2656, + 2082.8176, + 3550.0 + ], + "actual_end_pos": [ + 13216.2656, + 2082.8176, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13216.2656, + 2082.8176, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13116.2656, + 2082.8176, + 3550.0 + ], + "actual_end_pos": [ + 13116.2656, + 2082.8176, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13116.2656, + 2082.8176, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13116.2656, + 2082.8176, + 3550.0 + ], + "actual_end_pos": [ + 13116.2656, + 2082.8176, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13116.2656, + 2082.8176, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13116.2656, + 2082.8176, + 3550.0 + ], + "actual_end_pos": [ + 13116.2656, + 2082.8176, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000160_meta.json b/loop_easy/run_20260410_112607__traj_000160_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a4bec7c5d1e98371517c86840626ed654aac14ab --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000160_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 160, + "episode_id": 0, + "state_id": 115, + "sample_index": 115, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 13100.0, + 3130.0, + 3550.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_left", + "move_left", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "turn_left", + "move_forward", + "turn_left", + "turn_left", + "move_forward", + "no_op", + "move_forward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13100.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13100.0, + 3230.0, + 3550.0 + ], + "actual_end_pos": [ + 13100.0, + 3230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13100.0, + 3230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13000.0, + 3230.0, + 3550.0 + ], + "actual_end_pos": [ + 13000.0, + 3230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13000.0, + 3230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12900.0, + 3230.0, + 3550.0 + ], + "actual_end_pos": [ + 12900.0, + 3230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 12900.0, + 3230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12900.0, + 3230.0, + 3550.0 + ], + "actual_end_pos": [ + 12900.0, + 3230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12900.0, + 3230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 12925.8819, + 3133.4074, + 3550.0 + ], + "actual_end_pos": [ + 12925.8819, + 3133.4074, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12925.8819, + 3133.4074, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 12951.7638, + 3036.8148, + 3550.0 + ], + "actual_end_pos": [ + 12951.7638, + 3036.8148, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12951.7638, + 3036.8148, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 12977.6457, + 2940.2223, + 3550.0 + ], + "actual_end_pos": [ + 12977.6457, + 2940.2223, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12977.6457, + 2940.2223, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 12881.0531, + 2914.3403, + 3550.0 + ], + "actual_end_pos": [ + 12881.0531, + 2914.3403, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12881.0531, + 2914.3403, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 12881.0531, + 2914.3403, + 3550.0 + ], + "actual_end_pos": [ + 12881.0531, + 2914.3403, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12881.0531, + 2914.3403, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12881.0531, + 2814.3403, + 3550.0 + ], + "actual_end_pos": [ + 12881.0531, + 2814.3403, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12881.0531, + 2814.3403, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12881.0531, + 2814.3403, + 3550.0 + ], + "actual_end_pos": [ + 12881.0531, + 2814.3403, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12881.0531, + 2814.3403, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12881.0531, + 2814.3403, + 3550.0 + ], + "actual_end_pos": [ + 12881.0531, + 2814.3403, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12881.0531, + 2814.3403, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 12831.0531, + 2727.7378, + 3550.0 + ], + "actual_end_pos": [ + 12831.0531, + 2727.7378, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12831.0531, + 2727.7378, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 12831.0531, + 2727.7378, + 3550.0 + ], + "actual_end_pos": [ + 12831.0531, + 2727.7378, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12831.0531, + 2727.7378, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 12781.0531, + 2641.1353, + 3550.0 + ], + "actual_end_pos": [ + 12781.0531, + 2641.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 12781.0531, + 2641.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 12781.0531, + 2641.1353, + 3550.0 + ], + "actual_end_pos": [ + 12781.0531, + 2641.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 12781.0531, + 2641.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 12781.0531, + 2641.1353, + 3550.0 + ], + "actual_end_pos": [ + 12781.0531, + 2641.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12781.0531, + 2641.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12781.0531, + 2741.1353, + 3550.0 + ], + "actual_end_pos": [ + 12781.0531, + 2741.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12781.0531, + 2741.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12781.0531, + 2841.1353, + 3550.0 + ], + "actual_end_pos": [ + 12781.0531, + 2841.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12781.0531, + 2841.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12781.0531, + 2941.1353, + 3550.0 + ], + "actual_end_pos": [ + 12781.0531, + 2941.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12781.0531, + 2941.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12781.0531, + 3041.1353, + 3550.0 + ], + "actual_end_pos": [ + 12781.0531, + 3041.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12781.0531, + 3041.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12781.0531, + 3141.1353, + 3550.0 + ], + "actual_end_pos": [ + 12781.0531, + 3141.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12781.0531, + 3141.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12881.0531, + 3141.1353, + 3550.0 + ], + "actual_end_pos": [ + 12881.0531, + 3141.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12881.0531, + 3141.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12981.0531, + 3141.1353, + 3550.0 + ], + "actual_end_pos": [ + 12981.0531, + 3141.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12981.0531, + 3141.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_pos": [ + 13081.0531, + 3141.1353, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000193_meta.json b/loop_easy/run_20260410_112607__traj_000193_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cf1404aa5d9c7a00e83a85724544d6505597009a --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000193_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 193, + "episode_id": 0, + "state_id": 139, + "sample_index": 139, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 13100.0, + 6130.0, + 3550.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "turn_left", + "move_backward", + "turn_left", + "move_right", + "turn_right", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "move_forward", + "move_left", + "move_backward", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "turn_left", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13100.0, + 6130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13200.0, + 6130.0, + 3550.0 + ], + "actual_end_pos": [ + 13200.0, + 6130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13200.0, + 6130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13300.0, + 6130.0, + 3550.0 + ], + "actual_end_pos": [ + 13300.0, + 6130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13300.0, + 6130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13300.0, + 6130.0, + 3550.0 + ], + "actual_end_pos": [ + 13300.0, + 6130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13300.0, + 6130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13325.8819, + 6226.5926, + 3550.0 + ], + "actual_end_pos": [ + 13325.8819, + 6226.5926, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13325.8819, + 6226.5926, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13325.8819, + 6226.5926, + 3550.0 + ], + "actual_end_pos": [ + 13325.8819, + 6226.5926, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13325.8819, + 6226.5926, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 13412.4844, + 6176.5926, + 3550.0 + ], + "actual_end_pos": [ + 13412.4844, + 6176.5926, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13412.4844, + 6176.5926, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 13412.4844, + 6176.5926, + 3550.0 + ], + "actual_end_pos": [ + 13412.4844, + 6176.5926, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13412.4844, + 6176.5926, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13315.8919, + 6202.4745, + 3550.0 + ], + "actual_end_pos": [ + 13315.8919, + 6202.4745, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13315.8919, + 6202.4745, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13290.01, + 6105.8819, + 3550.0 + ], + "actual_end_pos": [ + 13290.01, + 6105.8819, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13290.01, + 6105.8819, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13264.1281, + 6009.2893, + 3550.0 + ], + "actual_end_pos": [ + 13264.1281, + 6009.2893, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13264.1281, + 6009.2893, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13238.2462, + 5912.6967, + 3550.0 + ], + "actual_end_pos": [ + 13238.2462, + 5912.6967, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13238.2462, + 5912.6967, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13212.3642, + 5816.1042, + 3550.0 + ], + "actual_end_pos": [ + 13212.3642, + 5816.1042, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13212.3642, + 5816.1042, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13308.9568, + 5790.2223, + 3550.0 + ], + "actual_end_pos": [ + 13308.9568, + 5790.2223, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13308.9568, + 5790.2223, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13283.0749, + 5693.6297, + 3550.0 + ], + "actual_end_pos": [ + 13283.0749, + 5693.6297, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13283.0749, + 5693.6297, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13186.4823, + 5719.5116, + 3550.0 + ], + "actual_end_pos": [ + 13186.4823, + 5719.5116, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13186.4823, + 5719.5116, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13212.3642, + 5816.1042, + 3550.0 + ], + "actual_end_pos": [ + 13212.3642, + 5816.1042, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13212.3642, + 5816.1042, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13115.7717, + 5841.9861, + 3550.0 + ], + "actual_end_pos": [ + 13115.7717, + 5841.9861, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13115.7717, + 5841.9861, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13089.8898, + 5745.3935, + 3550.0 + ], + "actual_end_pos": [ + 13089.8898, + 5745.3935, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13089.8898, + 5745.3935, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13064.0079, + 5648.8009, + 3550.0 + ], + "actual_end_pos": [ + 13064.0079, + 5648.8009, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13064.0079, + 5648.8009, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13038.126, + 5552.2083, + 3550.0 + ], + "actual_end_pos": [ + 13038.126, + 5552.2083, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13038.126, + 5552.2083, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13038.126, + 5552.2083, + 3550.0 + ], + "actual_end_pos": [ + 13038.126, + 5552.2083, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13038.126, + 5552.2083, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 13038.126, + 5552.2083, + 3550.0 + ], + "actual_end_pos": [ + 13038.126, + 5552.2083, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13038.126, + 5552.2083, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13108.8366, + 5622.919, + 3550.0 + ], + "actual_end_pos": [ + 13108.8366, + 5622.919, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13108.8366, + 5622.919, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13108.8366, + 5622.919, + 3550.0 + ], + "actual_end_pos": [ + 13108.8366, + 5622.919, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13108.8366, + 5622.919, + 3550.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 13108.8366, + 5622.919, + 3550.0 + ], + "actual_end_pos": [ + 13108.8366, + 5622.919, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13108.8366, + 5622.919, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13108.8366, + 5622.919, + 3550.0 + ], + "actual_end_pos": [ + 13108.8366, + 5622.919, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13108.8366, + 5622.919, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 13108.8366, + 5622.919, + 3550.0 + ], + "actual_end_pos": [ + 13108.8366, + 5622.919, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13108.8366, + 5622.919, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13108.8366, + 5622.919, + 3550.0 + ], + "actual_end_pos": [ + 13108.8366, + 5622.919, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13108.8366, + 5622.919, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13108.8366, + 5722.919, + 3550.0 + ], + "actual_end_pos": [ + 13108.8366, + 5722.919, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13108.8366, + 5722.919, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13108.8366, + 5822.919, + 3550.0 + ], + "actual_end_pos": [ + 13108.8366, + 5822.919, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13108.8366, + 5822.919, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13108.8366, + 5922.919, + 3550.0 + ], + "actual_end_pos": [ + 13108.8366, + 5922.919, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13108.8366, + 5922.919, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13108.8366, + 6022.919, + 3550.0 + ], + "actual_end_pos": [ + 13108.8366, + 6022.919, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13108.8366, + 6022.919, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "actual_end_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "actual_end_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "actual_end_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "actual_end_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "actual_end_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "actual_end_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "actual_end_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "actual_end_pos": [ + 13108.8366, + 6122.919, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000201_meta.json b/loop_easy/run_20260410_112607__traj_000201_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1ece7e05cb9540ef56836fd56f28b13c5e2016b9 --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000201_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 201, + "episode_id": 0, + "state_id": 145, + "sample_index": 145, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 13100.0, + 7130.0, + 3550.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "turn_right", + "look_up", + "move_backward", + "turn_right", + "move_left", + "move_forward", + "move_right", + "no_op", + "no_op", + "turn_right", + "move_forward", + "move_forward", + "no_op", + "move_left", + "turn_left", + "move_forward", + "move_forward", + "no_op", + "turn_left", + "move_backward", + "move_left", + "move_backward", + "move_backward", + "move_right", + "no_op", + "turn_left", + "look_down", + "move_backward", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13100.0, + 7130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13000.0, + 7130.0, + 3550.0 + ], + "actual_end_pos": [ + 13000.0, + 7130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13000.0, + 7130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13000.0, + 7130.0, + 3550.0 + ], + "actual_end_pos": [ + 13000.0, + 7130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 13000.0, + 7130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 13000.0, + 7130.0, + 3550.0 + ], + "actual_end_pos": [ + 13000.0, + 7130.0, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13000.0, + 7130.0, + 3550.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 13025.6605, + 7034.2338, + 3536.9474 + ], + "actual_end_pos": [ + 13025.6605, + 7034.2338, + 3536.9474 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13025.6605, + 7034.2338, + 3536.9474 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 13025.6605, + 7034.2338, + 3536.9474 + ], + "actual_end_pos": [ + 13025.6605, + 7034.2338, + 3536.9474 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13025.6605, + 7034.2338, + 3536.9474 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 13112.263, + 7084.2338, + 3536.9474 + ], + "actual_end_pos": [ + 13112.263, + 7084.2338, + 3536.9474 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13112.263, + 7084.2338, + 3536.9474 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 13062.6908, + 7170.0954, + 3550.0 + ], + "actual_end_pos": [ + 13062.6908, + 7170.0954, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13062.6908, + 7170.0954, + 3550.0 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 12976.0882, + 7120.0954, + 3550.0 + ], + "actual_end_pos": [ + 12976.0882, + 7120.0954, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12976.0882, + 7120.0954, + 3550.0 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 12976.0882, + 7120.0954, + 3550.0 + ], + "actual_end_pos": [ + 12976.0882, + 7120.0954, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12976.0882, + 7120.0954, + 3550.0 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 12976.0882, + 7120.0954, + 3550.0 + ], + "actual_end_pos": [ + 12976.0882, + 7120.0954, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 12976.0882, + 7120.0954, + 3550.0 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 12976.0882, + 7120.0954, + 3550.0 + ], + "actual_end_pos": [ + 12976.0882, + 7120.0954, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12976.0882, + 7120.0954, + 3550.0 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12905.9825, + 7190.2012, + 3563.0526 + ], + "actual_end_pos": [ + 12905.9825, + 7190.2012, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12905.9825, + 7190.2012, + 3563.0526 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12835.8768, + 7260.3069, + 3576.1052 + ], + "actual_end_pos": [ + 12835.8768, + 7260.3069, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12835.8768, + 7260.3069, + 3576.1052 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12835.8768, + 7260.3069, + 3576.1052 + ], + "actual_end_pos": [ + 12835.8768, + 7260.3069, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12835.8768, + 7260.3069, + 3576.1052 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12906.5874, + 7331.0176, + 3576.1052 + ], + "actual_end_pos": [ + 12906.5874, + 7331.0176, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12906.5874, + 7331.0176, + 3576.1052 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 12906.5874, + 7331.0176, + 3576.1052 + ], + "actual_end_pos": [ + 12906.5874, + 7331.0176, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12906.5874, + 7331.0176, + 3576.1052 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 12857.0152, + 7416.8792, + 3589.1579 + ], + "actual_end_pos": [ + 12857.0152, + 7416.8792, + 3589.1579 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12857.0152, + 7416.8792, + 3589.1579 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 12807.443, + 7502.7409, + 3602.2105 + ], + "actual_end_pos": [ + 12807.443, + 7502.7409, + 3602.2105 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12807.443, + 7502.7409, + 3602.2105 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 12807.443, + 7502.7409, + 3602.2105 + ], + "actual_end_pos": [ + 12807.443, + 7502.7409, + 3602.2105 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12807.443, + 7502.7409, + 3602.2105 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 12807.443, + 7502.7409, + 3602.2105 + ], + "actual_end_pos": [ + 12807.443, + 7502.7409, + 3602.2105 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12807.443, + 7502.7409, + 3602.2105 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 12833.1034, + 7406.9747, + 3589.1579 + ], + "actual_end_pos": [ + 12833.1034, + 7406.9747, + 3589.1579 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12833.1034, + 7406.9747, + 3589.1579 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 12929.696, + 7432.8566, + 3589.1579 + ], + "actual_end_pos": [ + 12929.696, + 7432.8566, + 3589.1579 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12929.696, + 7432.8566, + 3589.1579 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 12955.3565, + 7337.0903, + 3576.1052 + ], + "actual_end_pos": [ + 12955.3565, + 7337.0903, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12955.3565, + 7337.0903, + 3576.1052 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 12981.017, + 7241.3241, + 3563.0526 + ], + "actual_end_pos": [ + 12981.017, + 7241.3241, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12981.017, + 7241.3241, + 3563.0526 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 12884.4244, + 7215.4422, + 3563.0526 + ], + "actual_end_pos": [ + 12884.4244, + 7215.4422, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12884.4244, + 7215.4422, + 3563.0526 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 12884.4244, + 7215.4422, + 3563.0526 + ], + "actual_end_pos": [ + 12884.4244, + 7215.4422, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12884.4244, + 7215.4422, + 3563.0526 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 12884.4244, + 7215.4422, + 3563.0526 + ], + "actual_end_pos": [ + 12884.4244, + 7215.4422, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 12884.4244, + 7215.4422, + 3563.0526 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12884.4244, + 7215.4422, + 3563.0526 + ], + "actual_end_pos": [ + 12884.4244, + 7215.4422, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12884.4244, + 7215.4422, + 3563.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12884.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_pos": [ + 12884.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12884.4244, + 7115.4422, + 3563.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 12984.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_pos": [ + 12984.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12984.4244, + 7115.4422, + 3563.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_pos": [ + 13084.4244, + 7115.4422, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000249_meta.json b/loop_easy/run_20260410_112607__traj_000249_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..166f05b50914a4bd6934e430c26d404f99cdaff3 --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000249_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 249, + "episode_id": 0, + "state_id": 183, + "sample_index": 183, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 13600.0, + 5130.0, + 3550.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_right", + "no_op", + "no_op", + "move_right", + "move_forward", + "turn_left", + "move_backward", + "move_right", + "move_backward", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "look_down", + "move_right", + "move_right", + "move_forward", + "move_forward", + "turn_right", + "move_left", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13600.0, + 5130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13600.0, + 5230.0, + 3550.0 + ], + "actual_end_pos": [ + 13600.0, + 5230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13600.0, + 5230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13700.0, + 5230.0, + 3550.0 + ], + "actual_end_pos": [ + 13700.0, + 5230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13700.0, + 5230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13700.0, + 5230.0, + 3550.0 + ], + "actual_end_pos": [ + 13700.0, + 5230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13700.0, + 5230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13700.0, + 5230.0, + 3550.0 + ], + "actual_end_pos": [ + 13700.0, + 5230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13700.0, + 5230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13800.0, + 5230.0, + 3550.0 + ], + "actual_end_pos": [ + 13800.0, + 5230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13800.0, + 5230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13800.0, + 5130.0, + 3550.0 + ], + "actual_end_pos": [ + 13800.0, + 5130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13800.0, + 5130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13800.0, + 5130.0, + 3550.0 + ], + "actual_end_pos": [ + 13800.0, + 5130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13800.0, + 5130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13825.8819, + 5226.5926, + 3550.0 + ], + "actual_end_pos": [ + 13825.8819, + 5226.5926, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13825.8819, + 5226.5926, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13922.4745, + 5200.7107, + 3550.0 + ], + "actual_end_pos": [ + 13922.4745, + 5200.7107, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13922.4745, + 5200.7107, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13948.3564, + 5297.3033, + 3550.0 + ], + "actual_end_pos": [ + 13948.3564, + 5297.3033, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13948.3564, + 5297.3033, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 14044.949, + 5271.4214, + 3550.0 + ], + "actual_end_pos": [ + 14044.949, + 5271.4214, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14044.949, + 5271.4214, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 14019.0671, + 5174.8288, + 3550.0 + ], + "actual_end_pos": [ + 14019.0671, + 5174.8288, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14019.0671, + 5174.8288, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13993.1852, + 5078.2362, + 3550.0 + ], + "actual_end_pos": [ + 13993.1852, + 5078.2362, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13993.1852, + 5078.2362, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13967.3033, + 4981.6436, + 3550.0 + ], + "actual_end_pos": [ + 13967.3033, + 4981.6436, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 13967.3033, + 4981.6436, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13967.3033, + 4981.6436, + 3550.0 + ], + "actual_end_pos": [ + 13967.3033, + 4981.6436, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13967.3033, + 4981.6436, + 3550.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 14063.8958, + 4955.7617, + 3550.0 + ], + "actual_end_pos": [ + 14063.8958, + 4955.7617, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14063.8958, + 4955.7617, + 3550.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 14160.4884, + 4929.8798, + 3550.0 + ], + "actual_end_pos": [ + 14160.4884, + 4929.8798, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14160.4884, + 4929.8798, + 3550.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 14134.8279, + 4834.1136, + 3536.9474 + ], + "actual_end_pos": [ + 14134.8279, + 4834.1136, + 3536.9474 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14134.8279, + 4834.1136, + 3536.9474 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 14109.1675, + 4738.3474, + 3523.8948 + ], + "actual_end_pos": [ + 14109.1675, + 4738.3474, + 3523.8948 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 14109.1675, + 4738.3474, + 3523.8948 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 14109.1675, + 4738.3474, + 3523.8948 + ], + "actual_end_pos": [ + 14109.1675, + 4738.3474, + 3523.8948 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14109.1675, + 4738.3474, + 3523.8948 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14009.1675, + 4738.3474, + 3523.8948 + ], + "actual_end_pos": [ + 14009.1675, + 4738.3474, + 3523.8948 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 14009.1675, + 4738.3474, + 3523.8948 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14009.1675, + 4738.3474, + 3523.8948 + ], + "actual_end_pos": [ + 14009.1675, + 4738.3474, + 3523.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14009.1675, + 4738.3474, + 3523.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14009.1675, + 4838.3474, + 3523.8948 + ], + "actual_end_pos": [ + 14009.1675, + 4838.3474, + 3523.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14009.1675, + 4838.3474, + 3523.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14009.1675, + 4938.3474, + 3523.8948 + ], + "actual_end_pos": [ + 14009.1675, + 4938.3474, + 3523.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14009.1675, + 4938.3474, + 3523.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14009.1675, + 5038.3474, + 3523.8948 + ], + "actual_end_pos": [ + 14009.1675, + 5038.3474, + 3523.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14009.1675, + 5038.3474, + 3523.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14009.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_pos": [ + 14009.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14009.1675, + 5138.3474, + 3523.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13909.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_pos": [ + 13909.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13909.1675, + 5138.3474, + 3523.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13809.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_pos": [ + 13809.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13809.1675, + 5138.3474, + 3523.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13709.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_pos": [ + 13709.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13709.1675, + 5138.3474, + 3523.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_pos": [ + 13609.1675, + 5138.3474, + 3523.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000266_meta.json b/loop_easy/run_20260410_112607__traj_000266_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cb2e53328924badfabfe3abfa37f2a7dc7ca7836 --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000266_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 266, + "episode_id": 0, + "state_id": 195, + "sample_index": 195, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 13600.0, + 6630.0, + 3550.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_forward", + "move_right", + "look_down", + "no_op", + "move_right", + "turn_right", + "look_up", + "move_forward", + "move_right", + "move_right", + "move_right", + "look_up", + "move_forward", + "move_forward", + "move_right", + "turn_right", + "no_op", + "move_left", + "move_left", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13600.0, + 6630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13600.0, + 6630.0, + 3550.0 + ], + "actual_end_pos": [ + 13600.0, + 6630.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13600.0, + 6630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 13625.8819, + 6533.4074, + 3550.0 + ], + "actual_end_pos": [ + 13625.8819, + 6533.4074, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13625.8819, + 6533.4074, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 13722.4745, + 6559.2893, + 3550.0 + ], + "actual_end_pos": [ + 13722.4745, + 6559.2893, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 13722.4745, + 6559.2893, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 13722.4745, + 6559.2893, + 3550.0 + ], + "actual_end_pos": [ + 13722.4745, + 6559.2893, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13722.4745, + 6559.2893, + 3550.0 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 13722.4745, + 6559.2893, + 3550.0 + ], + "actual_end_pos": [ + 13722.4745, + 6559.2893, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13722.4745, + 6559.2893, + 3550.0 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 13819.0671, + 6585.1712, + 3550.0 + ], + "actual_end_pos": [ + 13819.0671, + 6585.1712, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13819.0671, + 6585.1712, + 3550.0 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 13819.0671, + 6585.1712, + 3550.0 + ], + "actual_end_pos": [ + 13819.0671, + 6585.1712, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 13819.0671, + 6585.1712, + 3550.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 13819.0671, + 6585.1712, + 3550.0 + ], + "actual_end_pos": [ + 13819.0671, + 6585.1712, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13819.0671, + 6585.1712, + 3550.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 13869.0671, + 6498.5687, + 3550.0 + ], + "actual_end_pos": [ + 13869.0671, + 6498.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13869.0671, + 6498.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 13955.6696, + 6548.5687, + 3550.0 + ], + "actual_end_pos": [ + 13955.6696, + 6548.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13955.6696, + 6548.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 14042.2722, + 6598.5687, + 3550.0 + ], + "actual_end_pos": [ + 14042.2722, + 6598.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14042.2722, + 6598.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 14128.8747, + 6648.5687, + 3550.0 + ], + "actual_end_pos": [ + 14128.8747, + 6648.5687, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 14128.8747, + 6648.5687, + 3550.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 14128.8747, + 6648.5687, + 3550.0 + ], + "actual_end_pos": [ + 14128.8747, + 6648.5687, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14128.8747, + 6648.5687, + 3550.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 14178.4469, + 6562.707, + 3563.0526 + ], + "actual_end_pos": [ + 14178.4469, + 6562.707, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14178.4469, + 6562.707, + 3563.0526 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 14228.0192, + 6476.8454, + 3576.1052 + ], + "actual_end_pos": [ + 14228.0192, + 6476.8454, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14228.0192, + 6476.8454, + 3576.1052 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 14314.6217, + 6526.8454, + 3576.1052 + ], + "actual_end_pos": [ + 14314.6217, + 6526.8454, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 14314.6217, + 6526.8454, + 3576.1052 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 14314.6217, + 6526.8454, + 3576.1052 + ], + "actual_end_pos": [ + 14314.6217, + 6526.8454, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14314.6217, + 6526.8454, + 3576.1052 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 14314.6217, + 6526.8454, + 3576.1052 + ], + "actual_end_pos": [ + 14314.6217, + 6526.8454, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14314.6217, + 6526.8454, + 3576.1052 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 14243.911, + 6456.1347, + 3576.1052 + ], + "actual_end_pos": [ + 14243.911, + 6456.1347, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14243.911, + 6456.1347, + 3576.1052 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 14173.2004, + 6385.424, + 3576.1052 + ], + "actual_end_pos": [ + 14173.2004, + 6385.424, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14173.2004, + 6385.424, + 3576.1052 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 14243.3061, + 6315.3183, + 3589.1579 + ], + "actual_end_pos": [ + 14243.3061, + 6315.3183, + 3589.1579 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 14243.3061, + 6315.3183, + 3589.1579 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 14243.3061, + 6315.3183, + 3589.1579 + ], + "actual_end_pos": [ + 14243.3061, + 6315.3183, + 3589.1579 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 14243.3061, + 6315.3183, + 3589.1579 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 14243.3061, + 6315.3183, + 3589.1579 + ], + "actual_end_pos": [ + 14243.3061, + 6315.3183, + 3589.1579 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 14243.3061, + 6315.3183, + 3589.1579 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 14243.3061, + 6315.3183, + 3589.1579 + ], + "actual_end_pos": [ + 14243.3061, + 6315.3183, + 3589.1579 + ], + "actual_end_rot": [ + 7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 14243.3061, + 6315.3183, + 3589.1579 + ], + "start_rot": [ + 7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 14243.3061, + 6315.3183, + 3589.1579 + ], + "actual_end_pos": [ + 14243.3061, + 6315.3183, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14243.3061, + 6315.3183, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14243.3061, + 6415.3183, + 3589.1579 + ], + "actual_end_pos": [ + 14243.3061, + 6415.3183, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14243.3061, + 6415.3183, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14243.3061, + 6515.3183, + 3589.1579 + ], + "actual_end_pos": [ + 14243.3061, + 6515.3183, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14243.3061, + 6515.3183, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14243.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_pos": [ + 14243.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14243.3061, + 6615.3183, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14143.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_pos": [ + 14143.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14143.3061, + 6615.3183, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14043.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_pos": [ + 14043.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14043.3061, + 6615.3183, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13943.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_pos": [ + 13943.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13943.3061, + 6615.3183, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13843.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_pos": [ + 13843.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13843.3061, + 6615.3183, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13743.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_pos": [ + 13743.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13743.3061, + 6615.3183, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13643.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_pos": [ + 13643.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13643.3061, + 6615.3183, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13643.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_pos": [ + 13643.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13643.3061, + 6615.3183, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13643.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_pos": [ + 13643.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13643.3061, + 6615.3183, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13643.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_pos": [ + 13643.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13643.3061, + 6615.3183, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13643.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_pos": [ + 13643.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13643.3061, + 6615.3183, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13643.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_pos": [ + 13643.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13643.3061, + 6615.3183, + 3589.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13643.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_pos": [ + 13643.3061, + 6615.3183, + 3589.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000272_meta.json b/loop_easy/run_20260410_112607__traj_000272_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..65528e37d918925c75679bfd476a402d3a4a9855 --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000272_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 272, + "episode_id": 0, + "state_id": 201, + "sample_index": 201, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 13600.0, + 7630.0, + 3550.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "look_up", + "move_forward", + "turn_left", + "move_right", + "turn_right", + "move_left", + "turn_left", + "move_left", + "turn_left", + "look_down", + "move_backward", + "move_backward", + "look_up", + "move_backward", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "look_down", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13600.0, + 7630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13600.0, + 7730.0, + 3550.0 + ], + "actual_end_pos": [ + 13600.0, + 7730.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13600.0, + 7730.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13600.0, + 7830.0, + 3550.0 + ], + "actual_end_pos": [ + 13600.0, + 7830.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13600.0, + 7830.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13600.0, + 7830.0, + 3550.0 + ], + "actual_end_pos": [ + 13600.0, + 7830.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13600.0, + 7830.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 13600.0, + 7830.0, + 3550.0 + ], + "actual_end_pos": [ + 13600.0, + 7830.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13600.0, + 7830.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 13600.0, + 7830.0, + 3550.0 + ], + "actual_end_pos": [ + 13600.0, + 7830.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13600.0, + 7830.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13529.2893, + 7759.2893, + 3550.0 + ], + "actual_end_pos": [ + 13529.2893, + 7759.2893, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 13529.2893, + 7759.2893, + 3550.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13529.2893, + 7759.2893, + 3550.0 + ], + "actual_end_pos": [ + 13529.2893, + 7759.2893, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13529.2893, + 7759.2893, + 3550.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13599.3951, + 7829.3951, + 3563.0526 + ], + "actual_end_pos": [ + 13599.3951, + 7829.3951, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13599.3951, + 7829.3951, + 3563.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13599.3951, + 7829.3951, + 3563.0526 + ], + "actual_end_pos": [ + 13599.3951, + 7829.3951, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13599.3951, + 7829.3951, + 3563.0526 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 13549.3951, + 7915.9976, + 3563.0526 + ], + "actual_end_pos": [ + 13549.3951, + 7915.9976, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13549.3951, + 7915.9976, + 3563.0526 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 13549.3951, + 7915.9976, + 3563.0526 + ], + "actual_end_pos": [ + 13549.3951, + 7915.9976, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13549.3951, + 7915.9976, + 3563.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13620.1057, + 7845.2869, + 3563.0526 + ], + "actual_end_pos": [ + 13620.1057, + 7845.2869, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13620.1057, + 7845.2869, + 3563.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13620.1057, + 7845.2869, + 3563.0526 + ], + "actual_end_pos": [ + 13620.1057, + 7845.2869, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13620.1057, + 7845.2869, + 3563.0526 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 13670.1057, + 7758.6844, + 3563.0526 + ], + "actual_end_pos": [ + 13670.1057, + 7758.6844, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13670.1057, + 7758.6844, + 3563.0526 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 13670.1057, + 7758.6844, + 3563.0526 + ], + "actual_end_pos": [ + 13670.1057, + 7758.6844, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 13670.1057, + 7758.6844, + 3563.0526 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 13670.1057, + 7758.6844, + 3563.0526 + ], + "actual_end_pos": [ + 13670.1057, + 7758.6844, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13670.1057, + 7758.6844, + 3563.0526 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 13573.5132, + 7732.8025, + 3563.0526 + ], + "actual_end_pos": [ + 13573.5132, + 7732.8025, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13573.5132, + 7732.8025, + 3563.0526 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 13476.9206, + 7706.9206, + 3563.0526 + ], + "actual_end_pos": [ + 13476.9206, + 7706.9206, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 13476.9206, + 7706.9206, + 3563.0526 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 13476.9206, + 7706.9206, + 3563.0526 + ], + "actual_end_pos": [ + 13476.9206, + 7706.9206, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13476.9206, + 7706.9206, + 3563.0526 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 13381.1544, + 7681.2601, + 3550.0 + ], + "actual_end_pos": [ + 13381.1544, + 7681.2601, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13381.1544, + 7681.2601, + 3550.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 13381.1544, + 7681.2601, + 3550.0 + ], + "actual_end_pos": [ + 13381.1544, + 7681.2601, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13381.1544, + 7681.2601, + 3550.0 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 13480.2988, + 7681.2601, + 3563.0526 + ], + "actual_end_pos": [ + 13480.2988, + 7681.2601, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13480.2988, + 7681.2601, + 3563.0526 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 13579.4433, + 7681.2601, + 3576.1052 + ], + "actual_end_pos": [ + 13579.4433, + 7681.2601, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13579.4433, + 7681.2601, + 3576.1052 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 13579.4433, + 7681.2601, + 3576.1052 + ], + "actual_end_pos": [ + 13579.4433, + 7681.2601, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13579.4433, + 7681.2601, + 3576.1052 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "actual_end_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "actual_end_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "actual_end_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "actual_end_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "actual_end_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "actual_end_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "actual_end_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "start_rot": [ + 7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "actual_end_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "actual_end_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13605.3252, + 7777.8527, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13605.3252, + 7677.8527, + 3576.1052 + ], + "actual_end_pos": [ + 13605.3252, + 7677.8527, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13605.3252, + 7677.8527, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13605.3252, + 7677.8527, + 3576.1052 + ], + "actual_end_pos": [ + 13605.3252, + 7677.8527, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13605.3252, + 7677.8527, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13605.3252, + 7677.8527, + 3576.1052 + ], + "actual_end_pos": [ + 13605.3252, + 7677.8527, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13605.3252, + 7677.8527, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13605.3252, + 7677.8527, + 3576.1052 + ], + "actual_end_pos": [ + 13605.3252, + 7677.8527, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13605.3252, + 7677.8527, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13605.3252, + 7677.8527, + 3576.1052 + ], + "actual_end_pos": [ + 13605.3252, + 7677.8527, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13605.3252, + 7677.8527, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13605.3252, + 7677.8527, + 3576.1052 + ], + "actual_end_pos": [ + 13605.3252, + 7677.8527, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13605.3252, + 7677.8527, + 3576.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13605.3252, + 7677.8527, + 3576.1052 + ], + "actual_end_pos": [ + 13605.3252, + 7677.8527, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000274_meta.json b/loop_easy/run_20260410_112607__traj_000274_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..012528485123b60f2e03ce34185d162bec2c80c2 --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000274_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 274, + "episode_id": 0, + "state_id": 203, + "sample_index": 203, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 13600.0, + 7630.0, + 3550.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_left", + "move_backward", + "no_op", + "no_op", + "move_backward", + "move_right", + "look_up", + "move_left", + "move_left", + "look_down", + "move_right", + "move_right", + "move_right", + "look_up", + "no_op", + "move_left", + "move_forward", + "look_down", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13600.0, + 7630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13600.0, + 7630.0, + 3550.0 + ], + "actual_end_pos": [ + 13600.0, + 7630.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13600.0, + 7630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13600.0, + 7630.0, + 3550.0 + ], + "actual_end_pos": [ + 13600.0, + 7630.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13600.0, + 7630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 13600.0, + 7630.0, + 3550.0 + ], + "actual_end_pos": [ + 13600.0, + 7630.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13600.0, + 7630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13670.7107, + 7700.7107, + 3550.0 + ], + "actual_end_pos": [ + 13670.7107, + 7700.7107, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13670.7107, + 7700.7107, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13600.0, + 7771.4214, + 3550.0 + ], + "actual_end_pos": [ + 13600.0, + 7771.4214, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13600.0, + 7771.4214, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13670.7107, + 7842.132, + 3550.0 + ], + "actual_end_pos": [ + 13670.7107, + 7842.132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13670.7107, + 7842.132, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13670.7107, + 7842.132, + 3550.0 + ], + "actual_end_pos": [ + 13670.7107, + 7842.132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13670.7107, + 7842.132, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13670.7107, + 7842.132, + 3550.0 + ], + "actual_end_pos": [ + 13670.7107, + 7842.132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13670.7107, + 7842.132, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13741.4214, + 7912.8427, + 3550.0 + ], + "actual_end_pos": [ + 13741.4214, + 7912.8427, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13741.4214, + 7912.8427, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13812.132, + 7842.132, + 3550.0 + ], + "actual_end_pos": [ + 13812.132, + 7842.132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 13812.132, + 7842.132, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13812.132, + 7842.132, + 3550.0 + ], + "actual_end_pos": [ + 13812.132, + 7842.132, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13812.132, + 7842.132, + 3550.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13741.4214, + 7912.8427, + 3550.0 + ], + "actual_end_pos": [ + 13741.4214, + 7912.8427, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13741.4214, + 7912.8427, + 3550.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13670.7107, + 7983.5534, + 3550.0 + ], + "actual_end_pos": [ + 13670.7107, + 7983.5534, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 13670.7107, + 7983.5534, + 3550.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13670.7107, + 7983.5534, + 3550.0 + ], + "actual_end_pos": [ + 13670.7107, + 7983.5534, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13670.7107, + 7983.5534, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13741.4214, + 7912.8427, + 3550.0 + ], + "actual_end_pos": [ + 13741.4214, + 7912.8427, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13741.4214, + 7912.8427, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13812.132, + 7842.132, + 3550.0 + ], + "actual_end_pos": [ + 13812.132, + 7842.132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13812.132, + 7842.132, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13882.8427, + 7771.4214, + 3550.0 + ], + "actual_end_pos": [ + 13882.8427, + 7771.4214, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 13882.8427, + 7771.4214, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13882.8427, + 7771.4214, + 3550.0 + ], + "actual_end_pos": [ + 13882.8427, + 7771.4214, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13882.8427, + 7771.4214, + 3550.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13882.8427, + 7771.4214, + 3550.0 + ], + "actual_end_pos": [ + 13882.8427, + 7771.4214, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13882.8427, + 7771.4214, + 3550.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13812.132, + 7842.132, + 3550.0 + ], + "actual_end_pos": [ + 13812.132, + 7842.132, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13812.132, + 7842.132, + 3550.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13742.0263, + 7772.0263, + 3563.0526 + ], + "actual_end_pos": [ + 13742.0263, + 7772.0263, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 13742.0263, + 7772.0263, + 3563.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13742.0263, + 7772.0263, + 3563.0526 + ], + "actual_end_pos": [ + 13742.0263, + 7772.0263, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13742.0263, + 7772.0263, + 3563.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13671.3156, + 7701.3156, + 3563.0526 + ], + "actual_end_pos": [ + 13671.3156, + 7701.3156, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13671.3156, + 7701.3156, + 3563.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 13671.3156, + 7701.3156, + 3563.0526 + ], + "actual_end_pos": [ + 13671.3156, + 7701.3156, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13671.3156, + 7701.3156, + 3563.0526 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 13671.3156, + 7701.3156, + 3563.0526 + ], + "actual_end_pos": [ + 13671.3156, + 7701.3156, + 3563.0526 + ], + "actual_end_rot": [ + -0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13671.3156, + 7701.3156, + 3563.0526 + ], + "start_rot": [ + -0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 13671.3156, + 7701.3156, + 3563.0526 + ], + "actual_end_pos": [ + 13671.3156, + 7701.3156, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13671.3156, + 7701.3156, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13671.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_pos": [ + 13671.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13671.3156, + 7601.3156, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_pos": [ + 13571.3156, + 7601.3156, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000294_meta.json b/loop_easy/run_20260410_112607__traj_000294_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e5edb52222d4355ad3e9a6535fc9f6abcf7cc2f --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000294_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 294, + "episode_id": 0, + "state_id": 219, + "sample_index": 219, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 14100.0, + 3130.0, + 3550.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_forward", + "move_right", + "look_down", + "move_right", + "turn_right", + "move_left", + "no_op", + "move_backward", + "turn_right", + "turn_right", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "no_op", + "move_right", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 14100.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14100.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 14100.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14100.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 14125.8819, + 3033.4074, + 3550.0 + ], + "actual_end_pos": [ + 14125.8819, + 3033.4074, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14125.8819, + 3033.4074, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 14222.4745, + 3059.2893, + 3550.0 + ], + "actual_end_pos": [ + 14222.4745, + 3059.2893, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 14222.4745, + 3059.2893, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 14222.4745, + 3059.2893, + 3550.0 + ], + "actual_end_pos": [ + 14222.4745, + 3059.2893, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14222.4745, + 3059.2893, + 3550.0 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 14319.0671, + 3085.1712, + 3550.0 + ], + "actual_end_pos": [ + 14319.0671, + 3085.1712, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 14319.0671, + 3085.1712, + 3550.0 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 14319.0671, + 3085.1712, + 3550.0 + ], + "actual_end_pos": [ + 14319.0671, + 3085.1712, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14319.0671, + 3085.1712, + 3550.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 14232.4645, + 3035.1712, + 3550.0 + ], + "actual_end_pos": [ + 14232.4645, + 3035.1712, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14232.4645, + 3035.1712, + 3550.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 14232.4645, + 3035.1712, + 3550.0 + ], + "actual_end_pos": [ + 14232.4645, + 3035.1712, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14232.4645, + 3035.1712, + 3550.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 14182.8923, + 3121.0329, + 3563.0526 + ], + "actual_end_pos": [ + 14182.8923, + 3121.0329, + 3563.0526 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 14182.8923, + 3121.0329, + 3563.0526 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 14182.8923, + 3121.0329, + 3563.0526 + ], + "actual_end_pos": [ + 14182.8923, + 3121.0329, + 3563.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 14182.8923, + 3121.0329, + 3563.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 14182.8923, + 3121.0329, + 3563.0526 + ], + "actual_end_pos": [ + 14182.8923, + 3121.0329, + 3563.0526 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14182.8923, + 3121.0329, + 3563.0526 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 14132.8923, + 3034.4303, + 3563.0526 + ], + "actual_end_pos": [ + 14132.8923, + 3034.4303, + 3563.0526 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14132.8923, + 3034.4303, + 3563.0526 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 14218.7539, + 2984.8581, + 3550.0 + ], + "actual_end_pos": [ + 14218.7539, + 2984.8581, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14218.7539, + 2984.8581, + 3550.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 14304.6156, + 2935.2858, + 3536.9474 + ], + "actual_end_pos": [ + 14304.6156, + 2935.2858, + 3536.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14304.6156, + 2935.2858, + 3536.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 14390.4772, + 2885.7136, + 3523.8948 + ], + "actual_end_pos": [ + 14390.4772, + 2885.7136, + 3523.8948 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14390.4772, + 2885.7136, + 3523.8948 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 14340.4772, + 2799.1111, + 3523.8948 + ], + "actual_end_pos": [ + 14340.4772, + 2799.1111, + 3523.8948 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14340.4772, + 2799.1111, + 3523.8948 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 14340.4772, + 2799.1111, + 3523.8948 + ], + "actual_end_pos": [ + 14340.4772, + 2799.1111, + 3523.8948 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14340.4772, + 2799.1111, + 3523.8948 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 14390.4772, + 2885.7136, + 3523.8948 + ], + "actual_end_pos": [ + 14390.4772, + 2885.7136, + 3523.8948 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14390.4772, + 2885.7136, + 3523.8948 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 14476.3389, + 2836.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14476.3389, + 2836.1414, + 3510.8421 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 14476.3389, + 2836.1414, + 3510.8421 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 14476.3389, + 2836.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14476.3389, + 2836.1414, + 3510.8421 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 14476.3389, + 2836.1414, + 3510.8421 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 14476.3389, + 2836.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14476.3389, + 2836.1414, + 3510.8421 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 14476.3389, + 2836.1414, + 3510.8421 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 14476.3389, + 2836.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14476.3389, + 2836.1414, + 3510.8421 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 14476.3389, + 2836.1414, + 3510.8421 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 14476.3389, + 2836.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14476.3389, + 2836.1414, + 3510.8421 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 14476.3389, + 2836.1414, + 3510.8421 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 14476.3389, + 2836.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14476.3389, + 2836.1414, + 3510.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14476.3389, + 2836.1414, + 3510.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14476.3389, + 2936.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14476.3389, + 2936.1414, + 3510.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14476.3389, + 2936.1414, + 3510.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14476.3389, + 3036.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14476.3389, + 3036.1414, + 3510.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14476.3389, + 3036.1414, + 3510.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14476.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14476.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14476.3389, + 3136.1414, + 3510.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14376.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14376.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14376.3389, + 3136.1414, + 3510.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14276.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14276.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14276.3389, + 3136.1414, + 3510.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14176.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14176.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14176.3389, + 3136.1414, + 3510.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_pos": [ + 14076.3389, + 3136.1414, + 3510.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000343_meta.json b/loop_easy/run_20260410_112607__traj_000343_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5157b1268e2129f4d96916857748aa3f4a02c2b9 --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000343_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 343, + "episode_id": 0, + "state_id": 253, + "sample_index": 253, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 14100.0, + 7630.0, + 3550.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "turn_right", + "no_op", + "move_forward", + "turn_left", + "move_forward", + "move_right", + "move_right", + "move_backward", + "move_backward", + "move_backward", + "look_down", + "look_down", + "move_right", + "turn_right", + "move_forward", + "look_up", + "move_forward", + "turn_right", + "move_left", + "move_backward", + "move_backward", + "turn_right", + "turn_left", + "turn_left", + "turn_left", + "look_up", + "move_forward", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14100.0, + 7630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14100.0, + 7530.0, + 3550.0 + ], + "actual_end_pos": [ + 14100.0, + 7530.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 14100.0, + 7530.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14100.0, + 7530.0, + 3550.0 + ], + "actual_end_pos": [ + 14100.0, + 7530.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14100.0, + 7530.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 14100.0, + 7530.0, + 3550.0 + ], + "actual_end_pos": [ + 14100.0, + 7530.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14100.0, + 7530.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 14074.1181, + 7626.5926, + 3550.0 + ], + "actual_end_pos": [ + 14074.1181, + 7626.5926, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 14074.1181, + 7626.5926, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 14074.1181, + 7626.5926, + 3550.0 + ], + "actual_end_pos": [ + 14074.1181, + 7626.5926, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14074.1181, + 7626.5926, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14074.1181, + 7726.5926, + 3550.0 + ], + "actual_end_pos": [ + 14074.1181, + 7726.5926, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14074.1181, + 7726.5926, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13974.1181, + 7726.5926, + 3550.0 + ], + "actual_end_pos": [ + 13974.1181, + 7726.5926, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13974.1181, + 7726.5926, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13874.1181, + 7726.5926, + 3550.0 + ], + "actual_end_pos": [ + 13874.1181, + 7726.5926, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13874.1181, + 7726.5926, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13874.1181, + 7626.5926, + 3550.0 + ], + "actual_end_pos": [ + 13874.1181, + 7626.5926, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13874.1181, + 7626.5926, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13874.1181, + 7526.5926, + 3550.0 + ], + "actual_end_pos": [ + 13874.1181, + 7526.5926, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13874.1181, + 7526.5926, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13874.1181, + 7426.5926, + 3550.0 + ], + "actual_end_pos": [ + 13874.1181, + 7426.5926, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 13874.1181, + 7426.5926, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13874.1181, + 7426.5926, + 3550.0 + ], + "actual_end_pos": [ + 13874.1181, + 7426.5926, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 13874.1181, + 7426.5926, + 3550.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13874.1181, + 7426.5926, + 3550.0 + ], + "actual_end_pos": [ + 13874.1181, + 7426.5926, + 3550.0 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13874.1181, + 7426.5926, + 3550.0 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13774.1181, + 7426.5926, + 3550.0 + ], + "actual_end_pos": [ + 13774.1181, + 7426.5926, + 3550.0 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13774.1181, + 7426.5926, + 3550.0 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13774.1181, + 7426.5926, + 3550.0 + ], + "actual_end_pos": [ + 13774.1181, + 7426.5926, + 3550.0 + ], + "actual_end_rot": [ + -15.0, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13774.1181, + 7426.5926, + 3550.0 + ], + "start_rot": [ + -15.0, + 105.0, + -0.0 + ], + "expected_end_pos": [ + 13749.1181, + 7519.8939, + 3524.1181 + ], + "actual_end_pos": [ + 13749.1181, + 7519.8939, + 3524.1181 + ], + "actual_end_rot": [ + -15.0, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 13749.1181, + 7519.8939, + 3524.1181 + ], + "start_rot": [ + -15.0, + 105.0, + -0.0 + ], + "expected_end_pos": [ + 13749.1181, + 7519.8939, + 3524.1181 + ], + "actual_end_pos": [ + 13749.1181, + 7519.8939, + 3524.1181 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13749.1181, + 7519.8939, + 3524.1181 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 13723.4576, + 7615.6601, + 3511.0655 + ], + "actual_end_pos": [ + 13723.4576, + 7615.6601, + 3511.0655 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13723.4576, + 7615.6601, + 3511.0655 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 13723.4576, + 7615.6601, + 3511.0655 + ], + "actual_end_pos": [ + 13723.4576, + 7615.6601, + 3511.0655 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13723.4576, + 7615.6601, + 3511.0655 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 13810.0602, + 7665.6601, + 3511.0655 + ], + "actual_end_pos": [ + 13810.0602, + 7665.6601, + 3511.0655 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13810.0602, + 7665.6601, + 3511.0655 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 13859.6324, + 7579.7984, + 3524.1181 + ], + "actual_end_pos": [ + 13859.6324, + 7579.7984, + 3524.1181 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13859.6324, + 7579.7984, + 3524.1181 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 13909.2046, + 7493.9368, + 3537.1707 + ], + "actual_end_pos": [ + 13909.2046, + 7493.9368, + 3537.1707 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13909.2046, + 7493.9368, + 3537.1707 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 13909.2046, + 7493.9368, + 3537.1707 + ], + "actual_end_pos": [ + 13909.2046, + 7493.9368, + 3537.1707 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13909.2046, + 7493.9368, + 3537.1707 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 13909.2046, + 7493.9368, + 3537.1707 + ], + "actual_end_pos": [ + 13909.2046, + 7493.9368, + 3537.1707 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13909.2046, + 7493.9368, + 3537.1707 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 13909.2046, + 7493.9368, + 3537.1707 + ], + "actual_end_pos": [ + 13909.2046, + 7493.9368, + 3537.1707 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13909.2046, + 7493.9368, + 3537.1707 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 13909.2046, + 7493.9368, + 3537.1707 + ], + "actual_end_pos": [ + 13909.2046, + 7493.9368, + 3537.1707 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 13909.2046, + 7493.9368, + 3537.1707 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13909.2046, + 7493.9368, + 3537.1707 + ], + "actual_end_pos": [ + 13909.2046, + 7493.9368, + 3537.1707 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13909.2046, + 7493.9368, + 3537.1707 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13909.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_pos": [ + 13909.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13909.2046, + 7593.9368, + 3537.1707 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14009.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_pos": [ + 14009.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14009.2046, + 7593.9368, + 3537.1707 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_pos": [ + 14109.2046, + 7593.9368, + 3537.1707 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000376_meta.json b/loop_easy/run_20260410_112607__traj_000376_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d5cbc8aed1df7b4c4f553ef257b995964e8a6bb4 --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000376_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 376, + "episode_id": 0, + "state_id": 278, + "sample_index": 278, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 14600.0, + 4130.0, + 3550.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "move_right", + "look_up", + "move_backward", + "turn_right", + "move_right", + "turn_left", + "no_op", + "move_left", + "move_forward", + "move_right", + "move_forward", + "turn_right", + "move_left", + "move_left", + "move_left", + "move_forward", + "move_left", + "turn_right", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_backward", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 14600.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14600.0, + 4130.0, + 3550.0 + ], + "actual_end_pos": [ + 14600.0, + 4130.0, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14600.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 14600.0, + 4030.0, + 3550.0 + ], + "actual_end_pos": [ + 14600.0, + 4030.0, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 14600.0, + 4030.0, + 3550.0 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 14600.0, + 4030.0, + 3550.0 + ], + "actual_end_pos": [ + 14600.0, + 4030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14600.0, + 4030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14700.0, + 4030.0, + 3550.0 + ], + "actual_end_pos": [ + 14700.0, + 4030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 14700.0, + 4030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14700.0, + 4030.0, + 3550.0 + ], + "actual_end_pos": [ + 14700.0, + 4030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14700.0, + 4030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 14725.8819, + 3933.4074, + 3550.0 + ], + "actual_end_pos": [ + 14725.8819, + 3933.4074, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 14725.8819, + 3933.4074, + 3550.0 + ], + "start_rot": [ + 0.0, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 14725.8819, + 3933.4074, + 3550.0 + ], + "actual_end_pos": [ + 14725.8819, + 3933.4074, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14725.8819, + 3933.4074, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14725.8819, + 3933.4074, + 3550.0 + ], + "actual_end_pos": [ + 14725.8819, + 3933.4074, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14725.8819, + 3933.4074, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14725.8819, + 4033.4074, + 3550.0 + ], + "actual_end_pos": [ + 14725.8819, + 4033.4074, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14725.8819, + 4033.4074, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14625.8819, + 4033.4074, + 3550.0 + ], + "actual_end_pos": [ + 14625.8819, + 4033.4074, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14625.8819, + 4033.4074, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14625.8819, + 3933.4074, + 3550.0 + ], + "actual_end_pos": [ + 14625.8819, + 3933.4074, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14625.8819, + 3933.4074, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14525.8819, + 3933.4074, + 3550.0 + ], + "actual_end_pos": [ + 14525.8819, + 3933.4074, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 14525.8819, + 3933.4074, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14525.8819, + 3933.4074, + 3550.0 + ], + "actual_end_pos": [ + 14525.8819, + 3933.4074, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14525.8819, + 3933.4074, + 3550.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 14500.0, + 4030.0, + 3550.0 + ], + "actual_end_pos": [ + 14500.0, + 4030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14500.0, + 4030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 14474.1181, + 4126.5926, + 3550.0 + ], + "actual_end_pos": [ + 14474.1181, + 4126.5926, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14474.1181, + 4126.5926, + 3550.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 14448.2362, + 4223.1852, + 3550.0 + ], + "actual_end_pos": [ + 14448.2362, + 4223.1852, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14448.2362, + 4223.1852, + 3550.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 14351.6436, + 4197.3033, + 3550.0 + ], + "actual_end_pos": [ + 14351.6436, + 4197.3033, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14351.6436, + 4197.3033, + 3550.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 14325.7617, + 4293.8958, + 3550.0 + ], + "actual_end_pos": [ + 14325.7617, + 4293.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 14325.7617, + 4293.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 14325.7617, + 4293.8958, + 3550.0 + ], + "actual_end_pos": [ + 14325.7617, + 4293.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14325.7617, + 4293.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 14412.3642, + 4343.8958, + 3550.0 + ], + "actual_end_pos": [ + 14412.3642, + 4343.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14412.3642, + 4343.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 14498.9668, + 4393.8958, + 3550.0 + ], + "actual_end_pos": [ + 14498.9668, + 4393.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 14498.9668, + 4393.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 14498.9668, + 4393.8958, + 3550.0 + ], + "actual_end_pos": [ + 14498.9668, + 4393.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 14498.9668, + 4393.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 14498.9668, + 4393.8958, + 3550.0 + ], + "actual_end_pos": [ + 14498.9668, + 4393.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14498.9668, + 4393.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14598.9668, + 4393.8958, + 3550.0 + ], + "actual_end_pos": [ + 14598.9668, + 4393.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14598.9668, + 4393.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14598.9668, + 4293.8958, + 3550.0 + ], + "actual_end_pos": [ + 14598.9668, + 4293.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14598.9668, + 4293.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14598.9668, + 4193.8958, + 3550.0 + ], + "actual_end_pos": [ + 14598.9668, + 4193.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14598.9668, + 4193.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_pos": [ + 14598.9668, + 4093.8958, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000380_meta.json b/loop_easy/run_20260410_112607__traj_000380_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aa9e124b81b36ef4cf3655f3e70f1f430aa5a16e --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000380_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 380, + "episode_id": 0, + "state_id": 281, + "sample_index": 281, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 14600.0, + 4630.0, + 3550.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "look_up", + "move_right", + "move_forward", + "look_down", + "move_backward", + "move_right", + "move_right", + "move_forward", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_backward", + "move_backward", + "look_up", + "move_backward", + "move_backward", + "move_right", + "turn_left", + "look_down", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14600.0, + 4630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14700.0, + 4630.0, + 3550.0 + ], + "actual_end_pos": [ + 14700.0, + 4630.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 14700.0, + 4630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14700.0, + 4630.0, + 3550.0 + ], + "actual_end_pos": [ + 14700.0, + 4630.0, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14700.0, + 4630.0, + 3550.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14600.0, + 4630.0, + 3550.0 + ], + "actual_end_pos": [ + 14600.0, + 4630.0, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14600.0, + 4630.0, + 3550.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14600.0, + 4729.1445, + 3563.0526 + ], + "actual_end_pos": [ + 14600.0, + 4729.1445, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 14600.0, + 4729.1445, + 3563.0526 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14600.0, + 4729.1445, + 3563.0526 + ], + "actual_end_pos": [ + 14600.0, + 4729.1445, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14600.0, + 4729.1445, + 3563.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14600.0, + 4629.1445, + 3563.0526 + ], + "actual_end_pos": [ + 14600.0, + 4629.1445, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14600.0, + 4629.1445, + 3563.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14500.0, + 4629.1445, + 3563.0526 + ], + "actual_end_pos": [ + 14500.0, + 4629.1445, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14500.0, + 4629.1445, + 3563.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14400.0, + 4629.1445, + 3563.0526 + ], + "actual_end_pos": [ + 14400.0, + 4629.1445, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14400.0, + 4629.1445, + 3563.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14400.0, + 4729.1445, + 3563.0526 + ], + "actual_end_pos": [ + 14400.0, + 4729.1445, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14400.0, + 4729.1445, + 3563.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14300.0, + 4729.1445, + 3563.0526 + ], + "actual_end_pos": [ + 14300.0, + 4729.1445, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14300.0, + 4729.1445, + 3563.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14200.0, + 4729.1445, + 3563.0526 + ], + "actual_end_pos": [ + 14200.0, + 4729.1445, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14200.0, + 4729.1445, + 3563.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14100.0, + 4729.1445, + 3563.0526 + ], + "actual_end_pos": [ + 14100.0, + 4729.1445, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 14100.0, + 4729.1445, + 3563.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14100.0, + 4729.1445, + 3563.0526 + ], + "actual_end_pos": [ + 14100.0, + 4729.1445, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14100.0, + 4729.1445, + 3563.0526 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 14125.8819, + 4632.5519, + 3563.0526 + ], + "actual_end_pos": [ + 14125.8819, + 4632.5519, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14125.8819, + 4632.5519, + 3563.0526 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 14151.7638, + 4535.9593, + 3563.0526 + ], + "actual_end_pos": [ + 14151.7638, + 4535.9593, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 14151.7638, + 4535.9593, + 3563.0526 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 14151.7638, + 4535.9593, + 3563.0526 + ], + "actual_end_pos": [ + 14151.7638, + 4535.9593, + 3563.0526 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14151.7638, + 4535.9593, + 3563.0526 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 14177.4243, + 4440.1931, + 3550.0 + ], + "actual_end_pos": [ + 14177.4243, + 4440.1931, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14177.4243, + 4440.1931, + 3550.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 14203.0848, + 4344.4269, + 3536.9474 + ], + "actual_end_pos": [ + 14203.0848, + 4344.4269, + 3536.9474 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14203.0848, + 4344.4269, + 3536.9474 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 14106.4922, + 4318.545, + 3536.9474 + ], + "actual_end_pos": [ + 14106.4922, + 4318.545, + 3536.9474 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 14106.4922, + 4318.545, + 3536.9474 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 14106.4922, + 4318.545, + 3536.9474 + ], + "actual_end_pos": [ + 14106.4922, + 4318.545, + 3536.9474 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 14106.4922, + 4318.545, + 3536.9474 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14106.4922, + 4318.545, + 3536.9474 + ], + "actual_end_pos": [ + 14106.4922, + 4318.545, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14106.4922, + 4318.545, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14106.4922, + 4418.545, + 3536.9474 + ], + "actual_end_pos": [ + 14106.4922, + 4418.545, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14106.4922, + 4418.545, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14106.4922, + 4518.545, + 3536.9474 + ], + "actual_end_pos": [ + 14106.4922, + 4518.545, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14106.4922, + 4518.545, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14106.4922, + 4618.545, + 3536.9474 + ], + "actual_end_pos": [ + 14106.4922, + 4618.545, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14106.4922, + 4618.545, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14206.4922, + 4618.545, + 3536.9474 + ], + "actual_end_pos": [ + 14206.4922, + 4618.545, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14206.4922, + 4618.545, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14306.4922, + 4618.545, + 3536.9474 + ], + "actual_end_pos": [ + 14306.4922, + 4618.545, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14306.4922, + 4618.545, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14406.4922, + 4618.545, + 3536.9474 + ], + "actual_end_pos": [ + 14406.4922, + 4618.545, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14406.4922, + 4618.545, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14506.4922, + 4618.545, + 3536.9474 + ], + "actual_end_pos": [ + 14506.4922, + 4618.545, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14506.4922, + 4618.545, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_pos": [ + 14606.4922, + 4618.545, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000392_meta.json b/loop_easy/run_20260410_112607__traj_000392_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..131e97d4ab6ea6ba745d348217dc6f6297c3e206 --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000392_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 392, + "episode_id": 0, + "state_id": 290, + "sample_index": 290, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 14600.0, + 5630.0, + 3550.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_forward", + "move_right", + "no_op", + "move_backward", + "move_backward", + "move_left", + "move_right", + "move_backward", + "move_left", + "move_left", + "turn_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14600.0, + 5630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14600.0, + 5730.0, + 3550.0 + ], + "actual_end_pos": [ + 14600.0, + 5730.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14600.0, + 5730.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14600.0, + 5830.0, + 3550.0 + ], + "actual_end_pos": [ + 14600.0, + 5830.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14600.0, + 5830.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14600.0, + 5930.0, + 3550.0 + ], + "actual_end_pos": [ + 14600.0, + 5930.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 14600.0, + 5930.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14600.0, + 5930.0, + 3550.0 + ], + "actual_end_pos": [ + 14600.0, + 5930.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 14600.0, + 5930.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 14600.0, + 5930.0, + 3550.0 + ], + "actual_end_pos": [ + 14600.0, + 5930.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14600.0, + 5930.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 14513.3975, + 5980.0, + 3550.0 + ], + "actual_end_pos": [ + 14513.3975, + 5980.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14513.3975, + 5980.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 14463.3975, + 5893.3975, + 3550.0 + ], + "actual_end_pos": [ + 14463.3975, + 5893.3975, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14463.3975, + 5893.3975, + 3550.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 14463.3975, + 5893.3975, + 3550.0 + ], + "actual_end_pos": [ + 14463.3975, + 5893.3975, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14463.3975, + 5893.3975, + 3550.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 14550.0, + 5843.3975, + 3550.0 + ], + "actual_end_pos": [ + 14550.0, + 5843.3975, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14550.0, + 5843.3975, + 3550.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 14636.6025, + 5793.3975, + 3550.0 + ], + "actual_end_pos": [ + 14636.6025, + 5793.3975, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14636.6025, + 5793.3975, + 3550.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 14686.6025, + 5880.0, + 3550.0 + ], + "actual_end_pos": [ + 14686.6025, + 5880.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14686.6025, + 5880.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 14636.6025, + 5793.3975, + 3550.0 + ], + "actual_end_pos": [ + 14636.6025, + 5793.3975, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14636.6025, + 5793.3975, + 3550.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 14723.2051, + 5743.3975, + 3550.0 + ], + "actual_end_pos": [ + 14723.2051, + 5743.3975, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14723.2051, + 5743.3975, + 3550.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 14773.2051, + 5830.0, + 3550.0 + ], + "actual_end_pos": [ + 14773.2051, + 5830.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14773.2051, + 5830.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 14823.2051, + 5916.6025, + 3550.0 + ], + "actual_end_pos": [ + 14823.2051, + 5916.6025, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 14823.2051, + 5916.6025, + 3550.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 14823.2051, + 5916.6025, + 3550.0 + ], + "actual_end_pos": [ + 14823.2051, + 5916.6025, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14823.2051, + 5916.6025, + 3550.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 14893.9158, + 5987.3132, + 3550.0 + ], + "actual_end_pos": [ + 14893.9158, + 5987.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 14893.9158, + 5987.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 14893.9158, + 5987.3132, + 3550.0 + ], + "actual_end_pos": [ + 14893.9158, + 5987.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 14893.9158, + 5987.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 14893.9158, + 5987.3132, + 3550.0 + ], + "actual_end_pos": [ + 14893.9158, + 5987.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 14893.9158, + 5987.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 14893.9158, + 5987.3132, + 3550.0 + ], + "actual_end_pos": [ + 14893.9158, + 5987.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14893.9158, + 5987.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14793.9158, + 5987.3132, + 3550.0 + ], + "actual_end_pos": [ + 14793.9158, + 5987.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14793.9158, + 5987.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14693.9158, + 5987.3132, + 3550.0 + ], + "actual_end_pos": [ + 14693.9158, + 5987.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14693.9158, + 5987.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14593.9158, + 5987.3132, + 3550.0 + ], + "actual_end_pos": [ + 14593.9158, + 5987.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14593.9158, + 5987.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14593.9158, + 5887.3132, + 3550.0 + ], + "actual_end_pos": [ + 14593.9158, + 5887.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14593.9158, + 5887.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14593.9158, + 5787.3132, + 3550.0 + ], + "actual_end_pos": [ + 14593.9158, + 5787.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14593.9158, + 5787.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14593.9158, + 5687.3132, + 3550.0 + ], + "actual_end_pos": [ + 14593.9158, + 5687.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14593.9158, + 5687.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_pos": [ + 14593.9158, + 5587.3132, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000429_meta.json b/loop_easy/run_20260410_112607__traj_000429_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..65815e9c1edd546a00b15d644f25f5c36323b90e --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000429_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 429, + "episode_id": 0, + "state_id": 314, + "sample_index": 314, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 15100.0, + 2130.0, + 3550.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "move_left", + "turn_right", + "move_left", + "move_backward", + "move_left", + "move_forward", + "turn_left", + "look_up", + "turn_left", + "move_forward", + "turn_right", + "move_backward", + "turn_left", + "move_forward", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "look_down", + "move_backward", + "look_up", + "move_right", + "turn_left", + "move_forward", + "turn_left", + "move_backward", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 15100.0, + 2130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15100.0, + 2130.0, + 3550.0 + ], + "actual_end_pos": [ + 15100.0, + 2130.0, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 15100.0, + 2130.0, + 3550.0 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 15100.0, + 2230.0, + 3550.0 + ], + "actual_end_pos": [ + 15100.0, + 2230.0, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 15100.0, + 2230.0, + 3550.0 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 15100.0, + 2230.0, + 3550.0 + ], + "actual_end_pos": [ + 15100.0, + 2230.0, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 15100.0, + 2230.0, + 3550.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 15074.1181, + 2326.5926, + 3550.0 + ], + "actual_end_pos": [ + 15074.1181, + 2326.5926, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 15074.1181, + 2326.5926, + 3550.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 15169.8843, + 2352.2531, + 3563.0526 + ], + "actual_end_pos": [ + 15169.8843, + 2352.2531, + 3563.0526 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 15169.8843, + 2352.2531, + 3563.0526 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 15144.0024, + 2448.8456, + 3563.0526 + ], + "actual_end_pos": [ + 15144.0024, + 2448.8456, + 3563.0526 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 15144.0024, + 2448.8456, + 3563.0526 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 15048.2362, + 2423.1852, + 3550.0 + ], + "actual_end_pos": [ + 15048.2362, + 2423.1852, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 15048.2362, + 2423.1852, + 3550.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 15048.2362, + 2423.1852, + 3550.0 + ], + "actual_end_pos": [ + 15048.2362, + 2423.1852, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 15048.2362, + 2423.1852, + 3550.0 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15048.2362, + 2423.1852, + 3550.0 + ], + "actual_end_pos": [ + 15048.2362, + 2423.1852, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 15048.2362, + 2423.1852, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15048.2362, + 2423.1852, + 3550.0 + ], + "actual_end_pos": [ + 15048.2362, + 2423.1852, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 15048.2362, + 2423.1852, + 3550.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 14951.6436, + 2449.0671, + 3550.0 + ], + "actual_end_pos": [ + 14951.6436, + 2449.0671, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 14951.6436, + 2449.0671, + 3550.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 14951.6436, + 2449.0671, + 3550.0 + ], + "actual_end_pos": [ + 14951.6436, + 2449.0671, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14951.6436, + 2449.0671, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15051.6436, + 2449.0671, + 3550.0 + ], + "actual_end_pos": [ + 15051.6436, + 2449.0671, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 15051.6436, + 2449.0671, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15051.6436, + 2449.0671, + 3550.0 + ], + "actual_end_pos": [ + 15051.6436, + 2449.0671, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 15051.6436, + 2449.0671, + 3550.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 14955.051, + 2474.949, + 3550.0 + ], + "actual_end_pos": [ + 14955.051, + 2474.949, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14955.051, + 2474.949, + 3550.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 15051.6436, + 2449.0671, + 3550.0 + ], + "actual_end_pos": [ + 15051.6436, + 2449.0671, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 15051.6436, + 2449.0671, + 3550.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 15051.6436, + 2449.0671, + 3550.0 + ], + "actual_end_pos": [ + 15051.6436, + 2449.0671, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 15051.6436, + 2449.0671, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15051.6436, + 2449.0671, + 3550.0 + ], + "actual_end_pos": [ + 15051.6436, + 2449.0671, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 15051.6436, + 2449.0671, + 3550.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 15051.6436, + 2449.0671, + 3550.0 + ], + "actual_end_pos": [ + 15051.6436, + 2449.0671, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 15051.6436, + 2449.0671, + 3550.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 15001.6436, + 2535.6696, + 3550.0 + ], + "actual_end_pos": [ + 15001.6436, + 2535.6696, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 15001.6436, + 2535.6696, + 3550.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 15001.6436, + 2535.6696, + 3550.0 + ], + "actual_end_pos": [ + 15001.6436, + 2535.6696, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 15001.6436, + 2535.6696, + 3550.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 15087.5052, + 2585.2419, + 3563.0526 + ], + "actual_end_pos": [ + 15087.5052, + 2585.2419, + 3563.0526 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 15087.5052, + 2585.2419, + 3563.0526 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 15087.5052, + 2585.2419, + 3563.0526 + ], + "actual_end_pos": [ + 15087.5052, + 2585.2419, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 15087.5052, + 2585.2419, + 3563.0526 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 15137.5052, + 2498.6393, + 3563.0526 + ], + "actual_end_pos": [ + 15137.5052, + 2498.6393, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 15137.5052, + 2498.6393, + 3563.0526 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 15137.5052, + 2498.6393, + 3563.0526 + ], + "actual_end_pos": [ + 15137.5052, + 2498.6393, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 15137.5052, + 2498.6393, + 3563.0526 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 15040.9127, + 2472.7574, + 3563.0526 + ], + "actual_end_pos": [ + 15040.9127, + 2472.7574, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 15040.9127, + 2472.7574, + 3563.0526 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 15040.9127, + 2472.7574, + 3563.0526 + ], + "actual_end_pos": [ + 15040.9127, + 2472.7574, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 15040.9127, + 2472.7574, + 3563.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15140.9127, + 2472.7574, + 3563.0526 + ], + "actual_end_pos": [ + 15140.9127, + 2472.7574, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 15140.9127, + 2472.7574, + 3563.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15140.9127, + 2372.7574, + 3563.0526 + ], + "actual_end_pos": [ + 15140.9127, + 2372.7574, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 15140.9127, + 2372.7574, + 3563.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15140.9127, + 2272.7574, + 3563.0526 + ], + "actual_end_pos": [ + 15140.9127, + 2272.7574, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 15140.9127, + 2272.7574, + 3563.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "actual_end_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "actual_end_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "actual_end_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "actual_end_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "actual_end_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "actual_end_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "actual_end_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "actual_end_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "actual_end_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "actual_end_pos": [ + 15140.9127, + 2172.7574, + 3563.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000454_meta.json b/loop_easy/run_20260410_112607__traj_000454_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f40db07b6898ae719f619744627151d3b70d2ca2 --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000454_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 454, + "episode_id": 0, + "state_id": 331, + "sample_index": 331, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 15100.0, + 4130.0, + 3550.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_left", + "move_forward", + "turn_left", + "move_forward", + "turn_left", + "move_forward", + "turn_left", + "move_right", + "move_forward", + "move_right", + "look_down", + "move_left", + "move_backward", + "turn_left", + "move_backward", + "move_left", + "move_right", + "turn_right", + "look_up", + "turn_left", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 15100.0, + 4130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15100.0, + 4230.0, + 3550.0 + ], + "actual_end_pos": [ + 15100.0, + 4230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 15100.0, + 4230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15100.0, + 4330.0, + 3550.0 + ], + "actual_end_pos": [ + 15100.0, + 4330.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 15100.0, + 4330.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15000.0, + 4330.0, + 3550.0 + ], + "actual_end_pos": [ + 15000.0, + 4330.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 15000.0, + 4330.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15000.0, + 4230.0, + 3550.0 + ], + "actual_end_pos": [ + 15000.0, + 4230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 15000.0, + 4230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15000.0, + 4230.0, + 3550.0 + ], + "actual_end_pos": [ + 15000.0, + 4230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 15000.0, + 4230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 14974.1181, + 4133.4074, + 3550.0 + ], + "actual_end_pos": [ + 14974.1181, + 4133.4074, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 14974.1181, + 4133.4074, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 14974.1181, + 4133.4074, + 3550.0 + ], + "actual_end_pos": [ + 14974.1181, + 4133.4074, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14974.1181, + 4133.4074, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 14924.1181, + 4046.8049, + 3550.0 + ], + "actual_end_pos": [ + 14924.1181, + 4046.8049, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 14924.1181, + 4046.8049, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 14924.1181, + 4046.8049, + 3550.0 + ], + "actual_end_pos": [ + 14924.1181, + 4046.8049, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14924.1181, + 4046.8049, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 14994.8288, + 3976.0942, + 3550.0 + ], + "actual_end_pos": [ + 14994.8288, + 3976.0942, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 14994.8288, + 3976.0942, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 14924.1181, + 3905.3835, + 3550.0 + ], + "actual_end_pos": [ + 14924.1181, + 3905.3835, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14924.1181, + 3905.3835, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 14994.8288, + 3834.6728, + 3550.0 + ], + "actual_end_pos": [ + 14994.8288, + 3834.6728, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 14994.8288, + 3834.6728, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 14994.8288, + 3834.6728, + 3550.0 + ], + "actual_end_pos": [ + 14994.8288, + 3834.6728, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 14994.8288, + 3834.6728, + 3550.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 14924.1181, + 3905.3835, + 3550.0 + ], + "actual_end_pos": [ + 14924.1181, + 3905.3835, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14924.1181, + 3905.3835, + 3550.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 14994.2238, + 3975.4893, + 3563.0526 + ], + "actual_end_pos": [ + 14994.2238, + 3975.4893, + 3563.0526 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 14994.2238, + 3975.4893, + 3563.0526 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 14994.2238, + 3975.4893, + 3563.0526 + ], + "actual_end_pos": [ + 14994.2238, + 3975.4893, + 3563.0526 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14994.2238, + 3975.4893, + 3563.0526 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 15080.0855, + 4025.0615, + 3576.1052 + ], + "actual_end_pos": [ + 15080.0855, + 4025.0615, + 3576.1052 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 15080.0855, + 4025.0615, + 3576.1052 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 15030.0855, + 4111.664, + 3576.1052 + ], + "actual_end_pos": [ + 15030.0855, + 4111.664, + 3576.1052 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 15030.0855, + 4111.664, + 3576.1052 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 15080.0855, + 4025.0615, + 3576.1052 + ], + "actual_end_pos": [ + 15080.0855, + 4025.0615, + 3576.1052 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 15080.0855, + 4025.0615, + 3576.1052 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 15080.0855, + 4025.0615, + 3576.1052 + ], + "actual_end_pos": [ + 15080.0855, + 4025.0615, + 3576.1052 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 15080.0855, + 4025.0615, + 3576.1052 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 15080.0855, + 4025.0615, + 3576.1052 + ], + "actual_end_pos": [ + 15080.0855, + 4025.0615, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 15080.0855, + 4025.0615, + 3576.1052 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 15080.0855, + 4025.0615, + 3576.1052 + ], + "actual_end_pos": [ + 15080.0855, + 4025.0615, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 15080.0855, + 4025.0615, + 3576.1052 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 14993.4829, + 3975.0615, + 3576.1052 + ], + "actual_end_pos": [ + 14993.4829, + 3975.0615, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 14993.4829, + 3975.0615, + 3576.1052 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 14993.4829, + 3975.0615, + 3576.1052 + ], + "actual_end_pos": [ + 14993.4829, + 3975.0615, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 14993.4829, + 3975.0615, + 3576.1052 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 14993.4829, + 3975.0615, + 3576.1052 + ], + "actual_end_pos": [ + 14993.4829, + 3975.0615, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 14993.4829, + 3975.0615, + 3576.1052 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 14993.4829, + 3975.0615, + 3576.1052 + ], + "actual_end_pos": [ + 14993.4829, + 3975.0615, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 14993.4829, + 3975.0615, + 3576.1052 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 14993.4829, + 3975.0615, + 3576.1052 + ], + "actual_end_pos": [ + 14993.4829, + 3975.0615, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14993.4829, + 3975.0615, + 3576.1052 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14993.4829, + 4075.0615, + 3576.1052 + ], + "actual_end_pos": [ + 14993.4829, + 4075.0615, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 14993.4829, + 4075.0615, + 3576.1052 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 14993.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_pos": [ + 14993.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 14993.4829, + 4175.0615, + 3576.1052 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_pos": [ + 15093.4829, + 4175.0615, + 3576.1052 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000510_meta.json b/loop_easy/run_20260410_112607__traj_000510_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2dff17ce9276ed1c4c36dbac0429d0c6735aae11 --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000510_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 510, + "episode_id": 0, + "state_id": 373, + "sample_index": 373, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 15600.0, + 3130.0, + 3550.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_backward", + "move_right", + "turn_left", + "move_left", + "turn_left", + "move_forward", + "turn_right", + "move_right", + "turn_left", + "turn_left", + "no_op", + "turn_right", + "move_right", + "no_op", + "move_backward", + "move_left", + "turn_left", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15500.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 15500.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 15500.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15500.0, + 3030.0, + 3550.0 + ], + "actual_end_pos": [ + 15500.0, + 3030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 15500.0, + 3030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15400.0, + 3030.0, + 3550.0 + ], + "actual_end_pos": [ + 15400.0, + 3030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 15400.0, + 3030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15400.0, + 3030.0, + 3550.0 + ], + "actual_end_pos": [ + 15400.0, + 3030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 15400.0, + 3030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 15496.5926, + 3004.1181, + 3550.0 + ], + "actual_end_pos": [ + 15496.5926, + 3004.1181, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 15496.5926, + 3004.1181, + 3550.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 15496.5926, + 3004.1181, + 3550.0 + ], + "actual_end_pos": [ + 15496.5926, + 3004.1181, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 15496.5926, + 3004.1181, + 3550.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 15546.5926, + 3090.7206, + 3550.0 + ], + "actual_end_pos": [ + 15546.5926, + 3090.7206, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 15546.5926, + 3090.7206, + 3550.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 15546.5926, + 3090.7206, + 3550.0 + ], + "actual_end_pos": [ + 15546.5926, + 3090.7206, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 15546.5926, + 3090.7206, + 3550.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 15450.0, + 3116.6025, + 3550.0 + ], + "actual_end_pos": [ + 15450.0, + 3116.6025, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 15450.0, + 3116.6025, + 3550.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 15450.0, + 3116.6025, + 3550.0 + ], + "actual_end_pos": [ + 15450.0, + 3116.6025, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 15450.0, + 3116.6025, + 3550.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 15450.0, + 3116.6025, + 3550.0 + ], + "actual_end_pos": [ + 15450.0, + 3116.6025, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15450.0, + 3116.6025, + 3550.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 15450.0, + 3116.6025, + 3550.0 + ], + "actual_end_pos": [ + 15450.0, + 3116.6025, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 15450.0, + 3116.6025, + 3550.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 15450.0, + 3116.6025, + 3550.0 + ], + "actual_end_pos": [ + 15450.0, + 3116.6025, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 15450.0, + 3116.6025, + 3550.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 15363.3975, + 3166.6025, + 3550.0 + ], + "actual_end_pos": [ + 15363.3975, + 3166.6025, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15363.3975, + 3166.6025, + 3550.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 15363.3975, + 3166.6025, + 3550.0 + ], + "actual_end_pos": [ + 15363.3975, + 3166.6025, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 15363.3975, + 3166.6025, + 3550.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 15313.3975, + 3080.0, + 3550.0 + ], + "actual_end_pos": [ + 15313.3975, + 3080.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 15313.3975, + 3080.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 15400.0, + 3030.0, + 3550.0 + ], + "actual_end_pos": [ + 15400.0, + 3030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 15400.0, + 3030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 15400.0, + 3030.0, + 3550.0 + ], + "actual_end_pos": [ + 15400.0, + 3030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 15400.0, + 3030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 15400.0, + 3030.0, + 3550.0 + ], + "actual_end_pos": [ + 15400.0, + 3030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 15400.0, + 3030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 15400.0, + 3030.0, + 3550.0 + ], + "actual_end_pos": [ + 15400.0, + 3030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 15400.0, + 3030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 15400.0, + 3030.0, + 3550.0 + ], + "actual_end_pos": [ + 15400.0, + 3030.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 15400.0, + 3030.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15400.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 15400.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 15400.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15500.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 15500.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 15500.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_pos": [ + 15600.0, + 3130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000531_meta.json b/loop_easy/run_20260410_112607__traj_000531_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1f272c9a8369f337068e9c2608ce07fe36784ac3 --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000531_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 531, + "episode_id": 0, + "state_id": 391, + "sample_index": 391, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 15600.0, + 5130.0, + 3550.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_right", + "move_forward", + "turn_left", + "move_left", + "turn_right", + "move_right", + "turn_left", + "move_right", + "move_backward", + "look_up", + "move_right", + "move_right", + "look_down", + "move_forward", + "move_forward", + "turn_left", + "move_right", + "move_right", + "turn_left", + "move_left", + "move_forward", + "move_right", + "move_right", + "look_down", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 15600.0, + 5130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15600.0, + 5230.0, + 3550.0 + ], + "actual_end_pos": [ + 15600.0, + 5230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 15600.0, + 5230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15600.0, + 5330.0, + 3550.0 + ], + "actual_end_pos": [ + 15600.0, + 5330.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 15600.0, + 5330.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15700.0, + 5330.0, + 3550.0 + ], + "actual_end_pos": [ + 15700.0, + 5330.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 15700.0, + 5330.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15700.0, + 5230.0, + 3550.0 + ], + "actual_end_pos": [ + 15700.0, + 5230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 15700.0, + 5230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15700.0, + 5230.0, + 3550.0 + ], + "actual_end_pos": [ + 15700.0, + 5230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 15700.0, + 5230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 15603.4074, + 5255.8819, + 3550.0 + ], + "actual_end_pos": [ + 15603.4074, + 5255.8819, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 15603.4074, + 5255.8819, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 15603.4074, + 5255.8819, + 3550.0 + ], + "actual_end_pos": [ + 15603.4074, + 5255.8819, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 15603.4074, + 5255.8819, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15703.4074, + 5255.8819, + 3550.0 + ], + "actual_end_pos": [ + 15703.4074, + 5255.8819, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 15703.4074, + 5255.8819, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15703.4074, + 5255.8819, + 3550.0 + ], + "actual_end_pos": [ + 15703.4074, + 5255.8819, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 15703.4074, + 5255.8819, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 15800.0, + 5230.0, + 3550.0 + ], + "actual_end_pos": [ + 15800.0, + 5230.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 15800.0, + 5230.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 15825.8819, + 5326.5926, + 3550.0 + ], + "actual_end_pos": [ + 15825.8819, + 5326.5926, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 15825.8819, + 5326.5926, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 15825.8819, + 5326.5926, + 3550.0 + ], + "actual_end_pos": [ + 15825.8819, + 5326.5926, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 15825.8819, + 5326.5926, + 3550.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 15922.4745, + 5300.7107, + 3550.0 + ], + "actual_end_pos": [ + 15922.4745, + 5300.7107, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 15922.4745, + 5300.7107, + 3550.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 16019.0671, + 5274.8288, + 3550.0 + ], + "actual_end_pos": [ + 16019.0671, + 5274.8288, + 3550.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 16019.0671, + 5274.8288, + 3550.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 16019.0671, + 5274.8288, + 3550.0 + ], + "actual_end_pos": [ + 16019.0671, + 5274.8288, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 16019.0671, + 5274.8288, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 15993.1852, + 5178.2362, + 3550.0 + ], + "actual_end_pos": [ + 15993.1852, + 5178.2362, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 15993.1852, + 5178.2362, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 15967.3033, + 5081.6436, + 3550.0 + ], + "actual_end_pos": [ + 15967.3033, + 5081.6436, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 15967.3033, + 5081.6436, + 3550.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 15967.3033, + 5081.6436, + 3550.0 + ], + "actual_end_pos": [ + 15967.3033, + 5081.6436, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 15967.3033, + 5081.6436, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 16053.9058, + 5031.6436, + 3550.0 + ], + "actual_end_pos": [ + 16053.9058, + 5031.6436, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 16053.9058, + 5031.6436, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 16140.5083, + 4981.6436, + 3550.0 + ], + "actual_end_pos": [ + 16140.5083, + 4981.6436, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 16140.5083, + 4981.6436, + 3550.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 16140.5083, + 4981.6436, + 3550.0 + ], + "actual_end_pos": [ + 16140.5083, + 4981.6436, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 16140.5083, + 4981.6436, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 16069.7977, + 5052.3543, + 3550.0 + ], + "actual_end_pos": [ + 16069.7977, + 5052.3543, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 16069.7977, + 5052.3543, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 15999.087, + 4981.6436, + 3550.0 + ], + "actual_end_pos": [ + 15999.087, + 4981.6436, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 15999.087, + 4981.6436, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 16069.7977, + 4910.9329, + 3550.0 + ], + "actual_end_pos": [ + 16069.7977, + 4910.9329, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 16069.7977, + 4910.9329, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 16140.5083, + 4840.2223, + 3550.0 + ], + "actual_end_pos": [ + 16140.5083, + 4840.2223, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 16140.5083, + 4840.2223, + 3550.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 16140.5083, + 4840.2223, + 3550.0 + ], + "actual_end_pos": [ + 16140.5083, + 4840.2223, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 16140.5083, + 4840.2223, + 3550.0 + ], + "start_rot": [ + -7.5, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 16070.4026, + 4770.1165, + 3536.9474 + ], + "actual_end_pos": [ + 16070.4026, + 4770.1165, + 3536.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 16070.4026, + 4770.1165, + 3536.9474 + ], + "start_rot": [ + -7.5, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 16070.4026, + 4770.1165, + 3536.9474 + ], + "actual_end_pos": [ + 16070.4026, + 4770.1165, + 3536.9474 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 16070.4026, + 4770.1165, + 3536.9474 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 16070.4026, + 4770.1165, + 3536.9474 + ], + "actual_end_pos": [ + 16070.4026, + 4770.1165, + 3536.9474 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 16070.4026, + 4770.1165, + 3536.9474 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 16070.4026, + 4770.1165, + 3536.9474 + ], + "actual_end_pos": [ + 16070.4026, + 4770.1165, + 3536.9474 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 16070.4026, + 4770.1165, + 3536.9474 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 16070.4026, + 4770.1165, + 3536.9474 + ], + "actual_end_pos": [ + 16070.4026, + 4770.1165, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 16070.4026, + 4770.1165, + 3536.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 16070.4026, + 4870.1165, + 3536.9474 + ], + "actual_end_pos": [ + 16070.4026, + 4870.1165, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 16070.4026, + 4870.1165, + 3536.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 16070.4026, + 4970.1165, + 3536.9474 + ], + "actual_end_pos": [ + 16070.4026, + 4970.1165, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 16070.4026, + 4970.1165, + 3536.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 16070.4026, + 5070.1165, + 3536.9474 + ], + "actual_end_pos": [ + 16070.4026, + 5070.1165, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 16070.4026, + 5070.1165, + 3536.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 16070.4026, + 5170.1165, + 3536.9474 + ], + "actual_end_pos": [ + 16070.4026, + 5170.1165, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 16070.4026, + 5170.1165, + 3536.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15970.4026, + 5170.1165, + 3536.9474 + ], + "actual_end_pos": [ + 15970.4026, + 5170.1165, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 15970.4026, + 5170.1165, + 3536.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15870.4026, + 5170.1165, + 3536.9474 + ], + "actual_end_pos": [ + 15870.4026, + 5170.1165, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 15870.4026, + 5170.1165, + 3536.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15770.4026, + 5170.1165, + 3536.9474 + ], + "actual_end_pos": [ + 15770.4026, + 5170.1165, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 15770.4026, + 5170.1165, + 3536.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15670.4026, + 5170.1165, + 3536.9474 + ], + "actual_end_pos": [ + 15670.4026, + 5170.1165, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 15670.4026, + 5170.1165, + 3536.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 15570.4026, + 5170.1165, + 3536.9474 + ], + "actual_end_pos": [ + 15570.4026, + 5170.1165, + 3536.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_112607__traj_000643_meta.json b/loop_easy/run_20260410_112607__traj_000643_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3bef38dc124eeb1e72d947c6240d1581bf0d72e4 --- /dev/null +++ b/loop_easy/run_20260410_112607__traj_000643_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 643, + "episode_id": 0, + "state_id": 474, + "sample_index": 474, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 16600.0, + 2630.0, + 3550.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "turn_left", + "move_forward", + "look_down", + "move_forward", + "move_left", + "no_op", + "turn_left", + "no_op", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "move_right", + "move_right", + "look_up", + "look_up", + "turn_right", + "turn_right", + "turn_right", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 16600.0, + 2630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 16600.0, + 2630.0, + 3550.0 + ], + "actual_end_pos": [ + 16600.0, + 2630.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 16600.0, + 2630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 16600.0, + 2630.0, + 3550.0 + ], + "actual_end_pos": [ + 16600.0, + 2630.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 16600.0, + 2630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 16513.3975, + 2680.0, + 3550.0 + ], + "actual_end_pos": [ + 16513.3975, + 2680.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 16513.3975, + 2680.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 16513.3975, + 2680.0, + 3550.0 + ], + "actual_end_pos": [ + 16513.3975, + 2680.0, + 3550.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 16513.3975, + 2680.0, + 3550.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 16427.5358, + 2729.5722, + 3536.9474 + ], + "actual_end_pos": [ + 16427.5358, + 2729.5722, + 3536.9474 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 16427.5358, + 2729.5722, + 3536.9474 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 16477.5358, + 2816.1748, + 3536.9474 + ], + "actual_end_pos": [ + 16477.5358, + 2816.1748, + 3536.9474 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 16477.5358, + 2816.1748, + 3536.9474 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 16477.5358, + 2816.1748, + 3536.9474 + ], + "actual_end_pos": [ + 16477.5358, + 2816.1748, + 3536.9474 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 16477.5358, + 2816.1748, + 3536.9474 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 16477.5358, + 2816.1748, + 3536.9474 + ], + "actual_end_pos": [ + 16477.5358, + 2816.1748, + 3536.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 16477.5358, + 2816.1748, + 3536.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 16477.5358, + 2816.1748, + 3536.9474 + ], + "actual_end_pos": [ + 16477.5358, + 2816.1748, + 3536.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 16477.5358, + 2816.1748, + 3536.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 16406.8251, + 2745.4641, + 3536.9474 + ], + "actual_end_pos": [ + 16406.8251, + 2745.4641, + 3536.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 16406.8251, + 2745.4641, + 3536.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 16336.7194, + 2815.5698, + 3523.8948 + ], + "actual_end_pos": [ + 16336.7194, + 2815.5698, + 3523.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 16336.7194, + 2815.5698, + 3523.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 16266.6137, + 2885.6756, + 3510.8421 + ], + "actual_end_pos": [ + 16266.6137, + 2885.6756, + 3510.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 16266.6137, + 2885.6756, + 3510.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 16196.5079, + 2955.7813, + 3497.7895 + ], + "actual_end_pos": [ + 16196.5079, + 2955.7813, + 3497.7895 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 16196.5079, + 2955.7813, + 3497.7895 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 16125.7972, + 2885.0707, + 3497.7895 + ], + "actual_end_pos": [ + 16125.7972, + 2885.0707, + 3497.7895 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 16125.7972, + 2885.0707, + 3497.7895 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 16055.0866, + 2814.36, + 3497.7895 + ], + "actual_end_pos": [ + 16055.0866, + 2814.36, + 3497.7895 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 16055.0866, + 2814.36, + 3497.7895 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 15984.3759, + 2743.6493, + 3497.7895 + ], + "actual_end_pos": [ + 15984.3759, + 2743.6493, + 3497.7895 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 15984.3759, + 2743.6493, + 3497.7895 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 15913.6652, + 2672.9386, + 3497.7895 + ], + "actual_end_pos": [ + 15913.6652, + 2672.9386, + 3497.7895 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 15913.6652, + 2672.9386, + 3497.7895 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 15842.9545, + 2602.2279, + 3497.7895 + ], + "actual_end_pos": [ + 15842.9545, + 2602.2279, + 3497.7895 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 15842.9545, + 2602.2279, + 3497.7895 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 15842.9545, + 2602.2279, + 3497.7895 + ], + "actual_end_pos": [ + 15842.9545, + 2602.2279, + 3497.7895 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 15842.9545, + 2602.2279, + 3497.7895 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 15772.2439, + 2531.5173, + 3497.7895 + ], + "actual_end_pos": [ + 15772.2439, + 2531.5173, + 3497.7895 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 15772.2439, + 2531.5173, + 3497.7895 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 15701.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_pos": [ + 15701.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 15701.5332, + 2460.8066, + 3497.7895 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 15701.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_pos": [ + 15701.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 15701.5332, + 2460.8066, + 3497.7895 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 15701.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_pos": [ + 15701.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 15701.5332, + 2460.8066, + 3497.7895 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 15701.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_pos": [ + 15701.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 15701.5332, + 2460.8066, + 3497.7895 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 15701.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_pos": [ + 15701.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 15701.5332, + 2460.8066, + 3497.7895 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 15701.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_pos": [ + 15701.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 15701.5332, + 2460.8066, + 3497.7895 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15701.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_pos": [ + 15701.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 15701.5332, + 2460.8066, + 3497.7895 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15801.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_pos": [ + 15801.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 15801.5332, + 2460.8066, + 3497.7895 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 15901.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_pos": [ + 15901.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 15901.5332, + 2460.8066, + 3497.7895 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 16001.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_pos": [ + 16001.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 16001.5332, + 2460.8066, + 3497.7895 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 16101.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_pos": [ + 16101.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 16101.5332, + 2460.8066, + 3497.7895 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 16201.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_pos": [ + 16201.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 16201.5332, + 2460.8066, + 3497.7895 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 16301.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_pos": [ + 16301.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 16301.5332, + 2460.8066, + 3497.7895 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 16401.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_pos": [ + 16401.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 16401.5332, + 2460.8066, + 3497.7895 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 16501.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_pos": [ + 16501.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 16501.5332, + 2460.8066, + 3497.7895 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 16601.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_pos": [ + 16601.5332, + 2460.8066, + 3497.7895 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 16601.5332, + 2460.8066, + 3497.7895 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 16601.5332, + 2560.8066, + 3497.7895 + ], + "actual_end_pos": [ + 16601.5332, + 2560.8066, + 3497.7895 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 16601.5332, + 2560.8066, + 3497.7895 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 16601.5332, + 2660.8066, + 3497.7895 + ], + "actual_end_pos": [ + 16601.5332, + 2660.8066, + 3497.7895 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 16601.5332, + 2660.8066, + 3497.7895 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 16601.5332, + 2660.8066, + 3497.7895 + ], + "actual_end_pos": [ + 16601.5332, + 2660.8066, + 3497.7895 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 16601.5332, + 2660.8066, + 3497.7895 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 16601.5332, + 2660.8066, + 3497.7895 + ], + "actual_end_pos": [ + 16601.5332, + 2660.8066, + 3497.7895 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_000175_meta.json b/loop_easy/run_20260410_184831__traj_000175_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..22be445e184524684c82e742f6a0ac8fc4abb2c1 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_000175_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 175, + "episode_id": 0, + "state_id": 132, + "sample_index": 132, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4680.0, + 13340.0, + 2150.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "move_right", + "turn_left", + "move_left", + "turn_left", + "turn_left", + "move_right", + "look_up", + "look_up", + "look_up", + "move_forward", + "move_forward", + "turn_left", + "look_down", + "move_backward", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -4680.0, + 13340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4680.0, + 13340.0, + 2150.0 + ], + "actual_end_pos": [ + -4680.0, + 13340.0, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4680.0, + 13340.0, + 2150.0 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + -4680.0, + 13240.0, + 2150.0 + ], + "actual_end_pos": [ + -4680.0, + 13240.0, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4680.0, + 13240.0, + 2150.0 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + -4680.0, + 13240.0, + 2150.0 + ], + "actual_end_pos": [ + -4680.0, + 13240.0, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4680.0, + 13240.0, + 2150.0 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + -4654.1181, + 13336.5926, + 2150.0 + ], + "actual_end_pos": [ + -4654.1181, + 13336.5926, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4654.1181, + 13336.5926, + 2150.0 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + -4654.1181, + 13336.5926, + 2150.0 + ], + "actual_end_pos": [ + -4654.1181, + 13336.5926, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4654.1181, + 13336.5926, + 2150.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4654.1181, + 13336.5926, + 2150.0 + ], + "actual_end_pos": [ + -4654.1181, + 13336.5926, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4654.1181, + 13336.5926, + 2150.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4724.8288, + 13265.8819, + 2150.0 + ], + "actual_end_pos": [ + -4724.8288, + 13265.8819, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -4724.8288, + 13265.8819, + 2150.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4724.8288, + 13265.8819, + 2150.0 + ], + "actual_end_pos": [ + -4724.8288, + 13265.8819, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -4724.8288, + 13265.8819, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4724.8288, + 13265.8819, + 2150.0 + ], + "actual_end_pos": [ + -4724.8288, + 13265.8819, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -4724.8288, + 13265.8819, + 2150.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + -4724.8288, + 13265.8819, + 2150.0 + ], + "actual_end_pos": [ + -4724.8288, + 13265.8819, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4724.8288, + 13265.8819, + 2150.0 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4793.13, + 13334.1832, + 2175.8819 + ], + "actual_end_pos": [ + -4793.13, + 13334.1832, + 2175.8819 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4793.13, + 13334.1832, + 2175.8819 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4861.4313, + 13402.4844, + 2201.7638 + ], + "actual_end_pos": [ + -4861.4313, + 13402.4844, + 2201.7638 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4861.4313, + 13402.4844, + 2201.7638 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4861.4313, + 13402.4844, + 2201.7638 + ], + "actual_end_pos": [ + -4861.4313, + 13402.4844, + 2201.7638 + ], + "actual_end_rot": [ + 15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -4861.4313, + 13402.4844, + 2201.7638 + ], + "start_rot": [ + 15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4861.4313, + 13402.4844, + 2201.7638 + ], + "actual_end_pos": [ + -4861.4313, + 13402.4844, + 2201.7638 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4861.4313, + 13402.4844, + 2201.7638 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -4811.8591, + 13316.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4811.8591, + 13316.6228, + 2188.7112 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4811.8591, + 13316.6228, + 2188.7112 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -4898.4616, + 13266.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4898.4616, + 13266.6228, + 2188.7112 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4898.4616, + 13266.6228, + 2188.7112 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -4985.0642, + 13216.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4985.0642, + 13216.6228, + 2188.7112 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4985.0642, + 13216.6228, + 2188.7112 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -4985.0642, + 13216.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4985.0642, + 13216.6228, + 2188.7112 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4985.0642, + 13216.6228, + 2188.7112 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4985.0642, + 13216.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4985.0642, + 13216.6228, + 2188.7112 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4985.0642, + 13216.6228, + 2188.7112 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4985.0642, + 13216.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4985.0642, + 13216.6228, + 2188.7112 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4985.0642, + 13216.6228, + 2188.7112 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4985.0642, + 13216.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4985.0642, + 13216.6228, + 2188.7112 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -4985.0642, + 13216.6228, + 2188.7112 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4985.0642, + 13216.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4985.0642, + 13216.6228, + 2188.7112 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4985.0642, + 13216.6228, + 2188.7112 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4885.0642, + 13216.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4885.0642, + 13216.6228, + 2188.7112 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4885.0642, + 13216.6228, + 2188.7112 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4785.0642, + 13216.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4785.0642, + 13216.6228, + 2188.7112 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4785.0642, + 13216.6228, + 2188.7112 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4685.0642, + 13216.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4685.0642, + 13216.6228, + 2188.7112 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4685.0642, + 13216.6228, + 2188.7112 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_pos": [ + -4685.0642, + 13316.6228, + 2188.7112 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_000176_meta.json b/loop_easy/run_20260410_184831__traj_000176_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e54bde1c25c66b8e891e4e0734e3e2a9d0d08eaf --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_000176_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 176, + "episode_id": 0, + "state_id": 133, + "sample_index": 133, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4680.0, + 13340.0, + 2150.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_right", + "no_op", + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_forward", + "move_right", + "turn_right", + "move_right", + "turn_right", + "move_forward", + "move_forward", + "move_left", + "turn_right", + "move_forward", + "turn_left", + "look_up", + "turn_left", + "turn_left", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4680.0, + 13340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4609.2893, + 13410.7107, + 2150.0 + ], + "actual_end_pos": [ + -4609.2893, + 13410.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4609.2893, + 13410.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4538.5786, + 13340.0, + 2150.0 + ], + "actual_end_pos": [ + -4538.5786, + 13340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4538.5786, + 13340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4538.5786, + 13340.0, + 2150.0 + ], + "actual_end_pos": [ + -4538.5786, + 13340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4538.5786, + 13340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4609.2893, + 13269.2893, + 2150.0 + ], + "actual_end_pos": [ + -4609.2893, + 13269.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4609.2893, + 13269.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4680.0, + 13198.5786, + 2150.0 + ], + "actual_end_pos": [ + -4680.0, + 13198.5786, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4680.0, + 13198.5786, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4609.2893, + 13127.868, + 2150.0 + ], + "actual_end_pos": [ + -4609.2893, + 13127.868, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4609.2893, + 13127.868, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4538.5786, + 13057.1573, + 2150.0 + ], + "actual_end_pos": [ + -4538.5786, + 13057.1573, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4538.5786, + 13057.1573, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4609.2893, + 12986.4466, + 2150.0 + ], + "actual_end_pos": [ + -4609.2893, + 12986.4466, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4609.2893, + 12986.4466, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4538.5786, + 12915.7359, + 2150.0 + ], + "actual_end_pos": [ + -4538.5786, + 12915.7359, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4538.5786, + 12915.7359, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4538.5786, + 12915.7359, + 2150.0 + ], + "actual_end_pos": [ + -4538.5786, + 12915.7359, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4538.5786, + 12915.7359, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4451.9761, + 12865.7359, + 2150.0 + ], + "actual_end_pos": [ + -4451.9761, + 12865.7359, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4451.9761, + 12865.7359, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4451.9761, + 12865.7359, + 2150.0 + ], + "actual_end_pos": [ + -4451.9761, + 12865.7359, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4451.9761, + 12865.7359, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4477.858, + 12769.1434, + 2150.0 + ], + "actual_end_pos": [ + -4477.858, + 12769.1434, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4477.858, + 12769.1434, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4503.7399, + 12672.5508, + 2150.0 + ], + "actual_end_pos": [ + -4503.7399, + 12672.5508, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4503.7399, + 12672.5508, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4600.3325, + 12698.4327, + 2150.0 + ], + "actual_end_pos": [ + -4600.3325, + 12698.4327, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4600.3325, + 12698.4327, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4600.3325, + 12698.4327, + 2150.0 + ], + "actual_end_pos": [ + -4600.3325, + 12698.4327, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4600.3325, + 12698.4327, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4600.3325, + 12598.4327, + 2150.0 + ], + "actual_end_pos": [ + -4600.3325, + 12598.4327, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4600.3325, + 12598.4327, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4600.3325, + 12598.4327, + 2150.0 + ], + "actual_end_pos": [ + -4600.3325, + 12598.4327, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -4600.3325, + 12598.4327, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4600.3325, + 12598.4327, + 2150.0 + ], + "actual_end_pos": [ + -4600.3325, + 12598.4327, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4600.3325, + 12598.4327, + 2150.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4600.3325, + 12598.4327, + 2150.0 + ], + "actual_end_pos": [ + -4600.3325, + 12598.4327, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4600.3325, + 12598.4327, + 2150.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4600.3325, + 12598.4327, + 2150.0 + ], + "actual_end_pos": [ + -4600.3325, + 12598.4327, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -4600.3325, + 12598.4327, + 2150.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4600.3325, + 12598.4327, + 2150.0 + ], + "actual_end_pos": [ + -4600.3325, + 12598.4327, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4600.3325, + 12598.4327, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4529.6218, + 12669.1434, + 2150.0 + ], + "actual_end_pos": [ + -4529.6218, + 12669.1434, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4529.6218, + 12669.1434, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4458.9111, + 12739.854, + 2150.0 + ], + "actual_end_pos": [ + -4458.9111, + 12739.854, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4458.9111, + 12739.854, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4388.2005, + 12810.5647, + 2150.0 + ], + "actual_end_pos": [ + -4388.2005, + 12810.5647, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4388.2005, + 12810.5647, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4317.4898, + 12881.2754, + 2150.0 + ], + "actual_end_pos": [ + -4317.4898, + 12881.2754, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4317.4898, + 12881.2754, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4246.7791, + 12951.9861, + 2150.0 + ], + "actual_end_pos": [ + -4246.7791, + 12951.9861, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4246.7791, + 12951.9861, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4317.4898, + 13022.6967, + 2150.0 + ], + "actual_end_pos": [ + -4317.4898, + 13022.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4317.4898, + 13022.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4388.2005, + 13093.4074, + 2150.0 + ], + "actual_end_pos": [ + -4388.2005, + 13093.4074, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4388.2005, + 13093.4074, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4458.9111, + 13164.1181, + 2150.0 + ], + "actual_end_pos": [ + -4458.9111, + 13164.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4458.9111, + 13164.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4529.6218, + 13234.8288, + 2150.0 + ], + "actual_end_pos": [ + -4529.6218, + 13234.8288, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4529.6218, + 13234.8288, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4600.3325, + 13305.5395, + 2150.0 + ], + "actual_end_pos": [ + -4600.3325, + 13305.5395, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4600.3325, + 13305.5395, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "actual_end_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "actual_end_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "actual_end_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "actual_end_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "actual_end_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "actual_end_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "actual_end_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "actual_end_pos": [ + -4671.0432, + 13376.2501, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_000292_meta.json b/loop_easy/run_20260410_184831__traj_000292_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..267bc7dd16a836e10dc1a13c6aea27f7e97064f5 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_000292_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 292, + "episode_id": 0, + "state_id": 220, + "sample_index": 220, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4380.0, + 10640.0, + 2150.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_right", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "turn_right", + "move_right", + "move_right", + "turn_right", + "move_right", + "turn_left", + "move_left", + "move_backward", + "move_backward", + "turn_right", + "move_right", + "move_forward", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4380.0, + 10640.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4280.0, + 10640.0, + 2150.0 + ], + "actual_end_pos": [ + -4280.0, + 10640.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4280.0, + 10640.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4280.0, + 10540.0, + 2150.0 + ], + "actual_end_pos": [ + -4280.0, + 10540.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4280.0, + 10540.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4280.0, + 10540.0, + 2150.0 + ], + "actual_end_pos": [ + -4280.0, + 10540.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4280.0, + 10540.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4183.4074, + 10514.1181, + 2150.0 + ], + "actual_end_pos": [ + -4183.4074, + 10514.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4183.4074, + 10514.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4086.8148, + 10488.2362, + 2150.0 + ], + "actual_end_pos": [ + -4086.8148, + 10488.2362, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4086.8148, + 10488.2362, + 2150.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3990.2223, + 10462.3543, + 2150.0 + ], + "actual_end_pos": [ + -3990.2223, + 10462.3543, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3990.2223, + 10462.3543, + 2150.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3990.2223, + 10462.3543, + 2150.0 + ], + "actual_end_pos": [ + -3990.2223, + 10462.3543, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3990.2223, + 10462.3543, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3990.2223, + 10362.3543, + 2150.0 + ], + "actual_end_pos": [ + -3990.2223, + 10362.3543, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3990.2223, + 10362.3543, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3990.2223, + 10262.3543, + 2150.0 + ], + "actual_end_pos": [ + -3990.2223, + 10262.3543, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3990.2223, + 10262.3543, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3990.2223, + 10262.3543, + 2150.0 + ], + "actual_end_pos": [ + -3990.2223, + 10262.3543, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3990.2223, + 10262.3543, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3964.3404, + 10165.7617, + 2150.0 + ], + "actual_end_pos": [ + -3964.3404, + 10165.7617, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3964.3404, + 10165.7617, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3964.3404, + 10165.7617, + 2150.0 + ], + "actual_end_pos": [ + -3964.3404, + 10165.7617, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3964.3404, + 10165.7617, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3964.3404, + 10265.7617, + 2150.0 + ], + "actual_end_pos": [ + -3964.3404, + 10265.7617, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3964.3404, + 10265.7617, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3864.3404, + 10265.7617, + 2150.0 + ], + "actual_end_pos": [ + -3864.3404, + 10265.7617, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3864.3404, + 10265.7617, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3764.3404, + 10265.7617, + 2150.0 + ], + "actual_end_pos": [ + -3764.3404, + 10265.7617, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3764.3404, + 10265.7617, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3764.3404, + 10265.7617, + 2150.0 + ], + "actual_end_pos": [ + -3764.3404, + 10265.7617, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3764.3404, + 10265.7617, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3738.4584, + 10169.1691, + 2150.0 + ], + "actual_end_pos": [ + -3738.4584, + 10169.1691, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3738.4584, + 10169.1691, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3835.051, + 10143.2872, + 2150.0 + ], + "actual_end_pos": [ + -3835.051, + 10143.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3835.051, + 10143.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3835.051, + 10143.2872, + 2150.0 + ], + "actual_end_pos": [ + -3835.051, + 10143.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3835.051, + 10143.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3935.051, + 10143.2872, + 2150.0 + ], + "actual_end_pos": [ + -3935.051, + 10143.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3935.051, + 10143.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4035.051, + 10143.2872, + 2150.0 + ], + "actual_end_pos": [ + -4035.051, + 10143.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4035.051, + 10143.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4135.051, + 10143.2872, + 2150.0 + ], + "actual_end_pos": [ + -4135.051, + 10143.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4135.051, + 10143.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4235.051, + 10143.2872, + 2150.0 + ], + "actual_end_pos": [ + -4235.051, + 10143.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4235.051, + 10143.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4335.051, + 10143.2872, + 2150.0 + ], + "actual_end_pos": [ + -4335.051, + 10143.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4335.051, + 10143.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4335.051, + 10243.2872, + 2150.0 + ], + "actual_end_pos": [ + -4335.051, + 10243.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4335.051, + 10243.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4335.051, + 10343.2872, + 2150.0 + ], + "actual_end_pos": [ + -4335.051, + 10343.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4335.051, + 10343.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4335.051, + 10443.2872, + 2150.0 + ], + "actual_end_pos": [ + -4335.051, + 10443.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4335.051, + 10443.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4335.051, + 10543.2872, + 2150.0 + ], + "actual_end_pos": [ + -4335.051, + 10543.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4335.051, + 10543.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_pos": [ + -4335.051, + 10643.2872, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_000326_meta.json b/loop_easy/run_20260410_184831__traj_000326_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cb1879dc1c10d434a560148f8a01fb4a131a0057 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_000326_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 326, + "episode_id": 0, + "state_id": 247, + "sample_index": 247, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4380.0, + 11540.0, + 2150.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_forward", + "look_up", + "move_right", + "turn_left", + "move_forward", + "move_forward", + "no_op", + "look_up", + "move_forward", + "turn_right", + "turn_right", + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4380.0, + 11540.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4450.7107, + 11469.2893, + 2150.0 + ], + "actual_end_pos": [ + -4450.7107, + 11469.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4450.7107, + 11469.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4450.7107, + 11469.2893, + 2150.0 + ], + "actual_end_pos": [ + -4450.7107, + 11469.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4450.7107, + 11469.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4450.7107, + 11469.2893, + 2150.0 + ], + "actual_end_pos": [ + -4450.7107, + 11469.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4450.7107, + 11469.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4476.5926, + 11372.6967, + 2150.0 + ], + "actual_end_pos": [ + -4476.5926, + 11372.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4476.5926, + 11372.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4502.4745, + 11276.1042, + 2150.0 + ], + "actual_end_pos": [ + -4502.4745, + 11276.1042, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4502.4745, + 11276.1042, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4405.8819, + 11250.2223, + 2150.0 + ], + "actual_end_pos": [ + -4405.8819, + 11250.2223, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -4405.8819, + 11250.2223, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4405.8819, + 11250.2223, + 2150.0 + ], + "actual_end_pos": [ + -4405.8819, + 11250.2223, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4405.8819, + 11250.2223, + 2150.0 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4380.0, + 11346.8148, + 2150.0 + ], + "actual_end_pos": [ + -4380.0, + 11346.8148, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4380.0, + 11346.8148, + 2150.0 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4380.0, + 11346.8148, + 2150.0 + ], + "actual_end_pos": [ + -4380.0, + 11346.8148, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4380.0, + 11346.8148, + 2150.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4294.1384, + 11297.2426, + 2163.0526 + ], + "actual_end_pos": [ + -4294.1384, + 11297.2426, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4294.1384, + 11297.2426, + 2163.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4208.2767, + 11247.6703, + 2176.1052 + ], + "actual_end_pos": [ + -4208.2767, + 11247.6703, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4208.2767, + 11247.6703, + 2176.1052 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4208.2767, + 11247.6703, + 2176.1052 + ], + "actual_end_pos": [ + -4208.2767, + 11247.6703, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -4208.2767, + 11247.6703, + 2176.1052 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4208.2767, + 11247.6703, + 2176.1052 + ], + "actual_end_pos": [ + -4208.2767, + 11247.6703, + 2176.1052 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4208.2767, + 11247.6703, + 2176.1052 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4124.6251, + 11199.3741, + 2201.9871 + ], + "actual_end_pos": [ + -4124.6251, + 11199.3741, + 2201.9871 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4124.6251, + 11199.3741, + 2201.9871 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4124.6251, + 11199.3741, + 2201.9871 + ], + "actual_end_pos": [ + -4124.6251, + 11199.3741, + 2201.9871 + ], + "actual_end_rot": [ + 15.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4124.6251, + 11199.3741, + 2201.9871 + ], + "start_rot": [ + 15.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -4124.6251, + 11199.3741, + 2201.9871 + ], + "actual_end_pos": [ + -4124.6251, + 11199.3741, + 2201.9871 + ], + "actual_end_rot": [ + 15.0, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4124.6251, + 11199.3741, + 2201.9871 + ], + "start_rot": [ + 15.0, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -4124.6251, + 11099.3741, + 2201.9871 + ], + "actual_end_pos": [ + -4124.6251, + 11099.3741, + 2201.9871 + ], + "actual_end_rot": [ + 15.0, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4124.6251, + 11099.3741, + 2201.9871 + ], + "start_rot": [ + 15.0, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -4124.6251, + 10999.3741, + 2201.9871 + ], + "actual_end_pos": [ + -4124.6251, + 10999.3741, + 2201.9871 + ], + "actual_end_rot": [ + 15.0, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4124.6251, + 10999.3741, + 2201.9871 + ], + "start_rot": [ + 15.0, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -4124.6251, + 10999.3741, + 2201.9871 + ], + "actual_end_pos": [ + -4124.6251, + 10999.3741, + 2201.9871 + ], + "actual_end_rot": [ + 15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4124.6251, + 10999.3741, + 2201.9871 + ], + "start_rot": [ + 15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4124.6251, + 10999.3741, + 2201.9871 + ], + "actual_end_pos": [ + -4124.6251, + 10999.3741, + 2201.9871 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4124.6251, + 10999.3741, + 2201.9871 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4124.6251, + 10999.3741, + 2201.9871 + ], + "actual_end_pos": [ + -4124.6251, + 10999.3741, + 2201.9871 + ], + "actual_end_rot": [ + 15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -4124.6251, + 10999.3741, + 2201.9871 + ], + "start_rot": [ + 15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4124.6251, + 10999.3741, + 2201.9871 + ], + "actual_end_pos": [ + -4124.6251, + 10999.3741, + 2201.9871 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4124.6251, + 10999.3741, + 2201.9871 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4194.7308, + 11069.4798, + 2188.9345 + ], + "actual_end_pos": [ + -4194.7308, + 11069.4798, + 2188.9345 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4194.7308, + 11069.4798, + 2188.9345 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4264.8366, + 11139.5855, + 2175.8819 + ], + "actual_end_pos": [ + -4264.8366, + 11139.5855, + 2175.8819 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4264.8366, + 11139.5855, + 2175.8819 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4334.9423, + 11209.6913, + 2162.8293 + ], + "actual_end_pos": [ + -4334.9423, + 11209.6913, + 2162.8293 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4334.9423, + 11209.6913, + 2162.8293 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4405.048, + 11279.797, + 2149.7767 + ], + "actual_end_pos": [ + -4405.048, + 11279.797, + 2149.7767 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4405.048, + 11279.797, + 2149.7767 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4475.1538, + 11349.9027, + 2136.724 + ], + "actual_end_pos": [ + -4475.1538, + 11349.9027, + 2136.724 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4475.1538, + 11349.9027, + 2136.724 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4545.2595, + 11420.0085, + 2123.6714 + ], + "actual_end_pos": [ + -4545.2595, + 11420.0085, + 2123.6714 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4545.2595, + 11420.0085, + 2123.6714 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4474.5488, + 11490.7192, + 2123.6714 + ], + "actual_end_pos": [ + -4474.5488, + 11490.7192, + 2123.6714 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4474.5488, + 11490.7192, + 2123.6714 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_pos": [ + -4403.8382, + 11561.4298, + 2123.6714 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_000421_meta.json b/loop_easy/run_20260410_184831__traj_000421_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bded35ae0ec31e4f372ffbfc197380612b67cc8b --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_000421_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 421, + "episode_id": 0, + "state_id": 314, + "sample_index": 314, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4380.0, + 14240.0, + 2150.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_left", + "move_backward", + "move_backward", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "look_down", + "move_forward", + "move_right", + "turn_left", + "look_down", + "move_left", + "turn_right", + "move_backward", + "move_backward", + "turn_right", + "move_forward", + "move_right", + "move_backward", + "move_right", + "turn_right", + "look_up", + "move_forward", + "move_forward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4380.0, + 14240.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4380.0, + 14140.0, + 2150.0 + ], + "actual_end_pos": [ + -4380.0, + 14140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4380.0, + 14140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4280.0, + 14140.0, + 2150.0 + ], + "actual_end_pos": [ + -4280.0, + 14140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4280.0, + 14140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4280.0, + 14040.0, + 2150.0 + ], + "actual_end_pos": [ + -4280.0, + 14040.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4280.0, + 14040.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4280.0, + 13940.0, + 2150.0 + ], + "actual_end_pos": [ + -4280.0, + 13940.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4280.0, + 13940.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4280.0, + 13940.0, + 2150.0 + ], + "actual_end_pos": [ + -4280.0, + 13940.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4280.0, + 13940.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4254.1181, + 14036.5926, + 2150.0 + ], + "actual_end_pos": [ + -4254.1181, + 14036.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4254.1181, + 14036.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4228.2362, + 14133.1852, + 2150.0 + ], + "actual_end_pos": [ + -4228.2362, + 14133.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4228.2362, + 14133.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4228.2362, + 14133.1852, + 2150.0 + ], + "actual_end_pos": [ + -4228.2362, + 14133.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -4228.2362, + 14133.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4228.2362, + 14133.1852, + 2150.0 + ], + "actual_end_pos": [ + -4228.2362, + 14133.1852, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4228.2362, + 14133.1852, + 2150.0 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4178.6639, + 14219.0468, + 2136.9474 + ], + "actual_end_pos": [ + -4178.6639, + 14219.0468, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4178.6639, + 14219.0468, + 2136.9474 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4265.2665, + 14269.0468, + 2136.9474 + ], + "actual_end_pos": [ + -4265.2665, + 14269.0468, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4265.2665, + 14269.0468, + 2136.9474 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4265.2665, + 14269.0468, + 2136.9474 + ], + "actual_end_pos": [ + -4265.2665, + 14269.0468, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -4265.2665, + 14269.0468, + 2136.9474 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4265.2665, + 14269.0468, + 2136.9474 + ], + "actual_end_pos": [ + -4265.2665, + 14269.0468, + 2136.9474 + ], + "actual_end_rot": [ + -15.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4265.2665, + 14269.0468, + 2136.9474 + ], + "start_rot": [ + -15.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -4194.5558, + 14198.3361, + 2136.9474 + ], + "actual_end_pos": [ + -4194.5558, + 14198.3361, + 2136.9474 + ], + "actual_end_rot": [ + -15.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4194.5558, + 14198.3361, + 2136.9474 + ], + "start_rot": [ + -15.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -4194.5558, + 14198.3361, + 2136.9474 + ], + "actual_end_pos": [ + -4194.5558, + 14198.3361, + 2136.9474 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4194.5558, + 14198.3361, + 2136.9474 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4242.8521, + 14114.6845, + 2162.8293 + ], + "actual_end_pos": [ + -4242.8521, + 14114.6845, + 2162.8293 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4242.8521, + 14114.6845, + 2162.8293 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4291.1484, + 14031.0329, + 2188.7112 + ], + "actual_end_pos": [ + -4291.1484, + 14031.0329, + 2188.7112 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4291.1484, + 14031.0329, + 2188.7112 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4291.1484, + 14031.0329, + 2188.7112 + ], + "actual_end_pos": [ + -4291.1484, + 14031.0329, + 2188.7112 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4291.1484, + 14031.0329, + 2188.7112 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4266.1484, + 14124.3341, + 2162.8293 + ], + "actual_end_pos": [ + -4266.1484, + 14124.3341, + 2162.8293 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4266.1484, + 14124.3341, + 2162.8293 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4362.741, + 14150.216, + 2162.8293 + ], + "actual_end_pos": [ + -4362.741, + 14150.216, + 2162.8293 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4362.741, + 14150.216, + 2162.8293 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4387.741, + 14056.9148, + 2188.7112 + ], + "actual_end_pos": [ + -4387.741, + 14056.9148, + 2188.7112 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4387.741, + 14056.9148, + 2188.7112 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4484.3336, + 14082.7967, + 2188.7112 + ], + "actual_end_pos": [ + -4484.3336, + 14082.7967, + 2188.7112 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4484.3336, + 14082.7967, + 2188.7112 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4484.3336, + 14082.7967, + 2188.7112 + ], + "actual_end_pos": [ + -4484.3336, + 14082.7967, + 2188.7112 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -4484.3336, + 14082.7967, + 2188.7112 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4484.3336, + 14082.7967, + 2188.7112 + ], + "actual_end_pos": [ + -4484.3336, + 14082.7967, + 2188.7112 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4484.3336, + 14082.7967, + 2188.7112 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4484.3336, + 14181.9412, + 2175.6586 + ], + "actual_end_pos": [ + -4484.3336, + 14181.9412, + 2175.6586 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4484.3336, + 14181.9412, + 2175.6586 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4484.3336, + 14281.0857, + 2162.606 + ], + "actual_end_pos": [ + -4484.3336, + 14281.0857, + 2162.606 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4484.3336, + 14281.0857, + 2162.606 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_pos": [ + -4384.3336, + 14281.0857, + 2162.606 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_000690_meta.json b/loop_easy/run_20260410_184831__traj_000690_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a69810826894bec44ce4b069de2d0fb49748301c --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_000690_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 690, + "episode_id": 0, + "state_id": 512, + "sample_index": 512, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4080.0, + 14540.0, + 2150.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "turn_right", + "move_right", + "move_forward", + "move_forward", + "no_op", + "turn_left", + "move_forward", + "move_forward", + "no_op", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4080.0, + 14540.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4080.0, + 14440.0, + 2150.0 + ], + "actual_end_pos": [ + -4080.0, + 14440.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4080.0, + 14440.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4080.0, + 14340.0, + 2150.0 + ], + "actual_end_pos": [ + -4080.0, + 14340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4080.0, + 14340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4080.0, + 14340.0, + 2150.0 + ], + "actual_end_pos": [ + -4080.0, + 14340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4080.0, + 14340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4105.8819, + 14436.5926, + 2150.0 + ], + "actual_end_pos": [ + -4105.8819, + 14436.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4105.8819, + 14436.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4009.2893, + 14462.4745, + 2150.0 + ], + "actual_end_pos": [ + -4009.2893, + 14462.4745, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4009.2893, + 14462.4745, + 2150.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3912.6967, + 14488.3564, + 2150.0 + ], + "actual_end_pos": [ + -3912.6967, + 14488.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3912.6967, + 14488.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3912.6967, + 14488.3564, + 2150.0 + ], + "actual_end_pos": [ + -3912.6967, + 14488.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3912.6967, + 14488.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3912.6967, + 14488.3564, + 2150.0 + ], + "actual_end_pos": [ + -3912.6967, + 14488.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3912.6967, + 14488.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3812.6967, + 14488.3564, + 2150.0 + ], + "actual_end_pos": [ + -3812.6967, + 14488.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3812.6967, + 14488.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3712.6967, + 14488.3564, + 2150.0 + ], + "actual_end_pos": [ + -3712.6967, + 14488.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3712.6967, + 14488.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3712.6967, + 14488.3564, + 2150.0 + ], + "actual_end_pos": [ + -3712.6967, + 14488.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3712.6967, + 14488.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3612.6967, + 14488.3564, + 2150.0 + ], + "actual_end_pos": [ + -3612.6967, + 14488.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3612.6967, + 14488.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3512.6967, + 14488.3564, + 2150.0 + ], + "actual_end_pos": [ + -3512.6967, + 14488.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3512.6967, + 14488.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3412.6967, + 14488.3564, + 2150.0 + ], + "actual_end_pos": [ + -3412.6967, + 14488.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3412.6967, + 14488.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3312.6967, + 14488.3564, + 2150.0 + ], + "actual_end_pos": [ + -3312.6967, + 14488.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3312.6967, + 14488.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3212.6967, + 14488.3564, + 2150.0 + ], + "actual_end_pos": [ + -3212.6967, + 14488.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3212.6967, + 14488.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3212.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -3212.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3212.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3312.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -3312.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3312.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3412.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -3412.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3412.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3512.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -3512.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3512.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3612.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -3612.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3612.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3712.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -3712.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3712.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3812.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -3812.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3812.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3912.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -3912.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3912.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4012.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -4012.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4012.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_pos": [ + -4112.6967, + 14588.3564, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_000708_meta.json b/loop_easy/run_20260410_184831__traj_000708_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1b0b1af4dbd2c2d4613371c1bd391acc8d86afd8 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_000708_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 708, + "episode_id": 0, + "state_id": 527, + "sample_index": 527, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4080.0, + 15440.0, + 2150.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_right", + "move_backward", + "look_up", + "turn_right", + "move_backward", + "move_left", + "move_forward", + "move_forward", + "move_right", + "turn_right", + "no_op", + "turn_left", + "turn_left", + "no_op", + "turn_left", + "move_right", + "move_forward", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "look_down", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4080.0, + 15440.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4080.0, + 15440.0, + 2150.0 + ], + "actual_end_pos": [ + -4080.0, + 15440.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4080.0, + 15440.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3993.3975, + 15490.0, + 2150.0 + ], + "actual_end_pos": [ + -3993.3975, + 15490.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3993.3975, + 15490.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4043.3975, + 15576.6025, + 2150.0 + ], + "actual_end_pos": [ + -4043.3975, + 15576.6025, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -4043.3975, + 15576.6025, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4043.3975, + 15576.6025, + 2150.0 + ], + "actual_end_pos": [ + -4043.3975, + 15576.6025, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4043.3975, + 15576.6025, + 2150.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4043.3975, + 15576.6025, + 2150.0 + ], + "actual_end_pos": [ + -4043.3975, + 15576.6025, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4043.3975, + 15576.6025, + 2150.0 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4113.5032, + 15646.7083, + 2136.9474 + ], + "actual_end_pos": [ + -4113.5032, + 15646.7083, + 2136.9474 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4113.5032, + 15646.7083, + 2136.9474 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4184.2139, + 15575.9976, + 2136.9474 + ], + "actual_end_pos": [ + -4184.2139, + 15575.9976, + 2136.9474 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4184.2139, + 15575.9976, + 2136.9474 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4114.1081, + 15505.8919, + 2150.0 + ], + "actual_end_pos": [ + -4114.1081, + 15505.8919, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4114.1081, + 15505.8919, + 2150.0 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4044.0024, + 15435.7861, + 2163.0526 + ], + "actual_end_pos": [ + -4044.0024, + 15435.7861, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4044.0024, + 15435.7861, + 2163.0526 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3973.2917, + 15506.4968, + 2163.0526 + ], + "actual_end_pos": [ + -3973.2917, + 15506.4968, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3973.2917, + 15506.4968, + 2163.0526 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3973.2917, + 15506.4968, + 2163.0526 + ], + "actual_end_pos": [ + -3973.2917, + 15506.4968, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3973.2917, + 15506.4968, + 2163.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3973.2917, + 15506.4968, + 2163.0526 + ], + "actual_end_pos": [ + -3973.2917, + 15506.4968, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3973.2917, + 15506.4968, + 2163.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3973.2917, + 15506.4968, + 2163.0526 + ], + "actual_end_pos": [ + -3973.2917, + 15506.4968, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3973.2917, + 15506.4968, + 2163.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + -3973.2917, + 15506.4968, + 2163.0526 + ], + "actual_end_pos": [ + -3973.2917, + 15506.4968, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3973.2917, + 15506.4968, + 2163.0526 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3973.2917, + 15506.4968, + 2163.0526 + ], + "actual_end_pos": [ + -3973.2917, + 15506.4968, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3973.2917, + 15506.4968, + 2163.0526 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3973.2917, + 15506.4968, + 2163.0526 + ], + "actual_end_pos": [ + -3973.2917, + 15506.4968, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3973.2917, + 15506.4968, + 2163.0526 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3876.6991, + 15532.3787, + 2163.0526 + ], + "actual_end_pos": [ + -3876.6991, + 15532.3787, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3876.6991, + 15532.3787, + 2163.0526 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3851.0387, + 15436.6125, + 2176.1052 + ], + "actual_end_pos": [ + -3851.0387, + 15436.6125, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3851.0387, + 15436.6125, + 2176.1052 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3947.6312, + 15410.7306, + 2176.1052 + ], + "actual_end_pos": [ + -3947.6312, + 15410.7306, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3947.6312, + 15410.7306, + 2176.1052 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4044.2238, + 15384.8487, + 2176.1052 + ], + "actual_end_pos": [ + -4044.2238, + 15384.8487, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4044.2238, + 15384.8487, + 2176.1052 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4140.8164, + 15358.9668, + 2176.1052 + ], + "actual_end_pos": [ + -4140.8164, + 15358.9668, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4140.8164, + 15358.9668, + 2176.1052 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4140.8164, + 15358.9668, + 2176.1052 + ], + "actual_end_pos": [ + -4140.8164, + 15358.9668, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4140.8164, + 15358.9668, + 2176.1052 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4140.8164, + 15358.9668, + 2176.1052 + ], + "actual_end_pos": [ + -4140.8164, + 15358.9668, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -4140.8164, + 15358.9668, + 2176.1052 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4140.8164, + 15358.9668, + 2176.1052 + ], + "actual_end_pos": [ + -4140.8164, + 15358.9668, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4140.8164, + 15358.9668, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_pos": [ + -4070.1057, + 15429.6775, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_000746_meta.json b/loop_easy/run_20260410_184831__traj_000746_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0d57c50440e6fd4c1b6f7c0d239f77dbe84511d3 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_000746_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 746, + "episode_id": 0, + "state_id": 556, + "sample_index": 556, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -3780.0, + 7040.0, + 2150.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "look_up", + "move_forward", + "move_left", + "move_left", + "move_forward", + "move_forward", + "turn_left", + "move_left", + "turn_right", + "move_left", + "move_backward", + "look_down", + "look_down", + "move_left", + "turn_right", + "move_right", + "move_forward", + "look_up", + "move_right", + "move_right", + "move_right", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3780.0, + 7040.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3780.0, + 7040.0, + 2150.0 + ], + "actual_end_pos": [ + -3780.0, + 7040.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3780.0, + 7040.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3780.0, + 7040.0, + 2150.0 + ], + "actual_end_pos": [ + -3780.0, + 7040.0, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3780.0, + 7040.0, + 2150.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -3875.7662, + 7014.3395, + 2163.0526 + ], + "actual_end_pos": [ + -3875.7662, + 7014.3395, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3875.7662, + 7014.3395, + 2163.0526 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -3901.6481, + 7110.9321, + 2163.0526 + ], + "actual_end_pos": [ + -3901.6481, + 7110.9321, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3901.6481, + 7110.9321, + 2163.0526 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -3927.53, + 7207.5247, + 2163.0526 + ], + "actual_end_pos": [ + -3927.53, + 7207.5247, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3927.53, + 7207.5247, + 2163.0526 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -4023.2963, + 7181.8642, + 2176.1052 + ], + "actual_end_pos": [ + -4023.2963, + 7181.8642, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4023.2963, + 7181.8642, + 2176.1052 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -4119.0625, + 7156.2037, + 2189.1579 + ], + "actual_end_pos": [ + -4119.0625, + 7156.2037, + 2189.1579 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4119.0625, + 7156.2037, + 2189.1579 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -4119.0625, + 7156.2037, + 2189.1579 + ], + "actual_end_pos": [ + -4119.0625, + 7156.2037, + 2189.1579 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4119.0625, + 7156.2037, + 2189.1579 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4119.0625, + 7256.2037, + 2189.1579 + ], + "actual_end_pos": [ + -4119.0625, + 7256.2037, + 2189.1579 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4119.0625, + 7256.2037, + 2189.1579 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4119.0625, + 7256.2037, + 2189.1579 + ], + "actual_end_pos": [ + -4119.0625, + 7256.2037, + 2189.1579 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4119.0625, + 7256.2037, + 2189.1579 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -4144.9444, + 7352.7963, + 2189.1579 + ], + "actual_end_pos": [ + -4144.9444, + 7352.7963, + 2189.1579 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4144.9444, + 7352.7963, + 2189.1579 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -4049.1782, + 7378.4568, + 2176.1052 + ], + "actual_end_pos": [ + -4049.1782, + 7378.4568, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -4049.1782, + 7378.4568, + 2176.1052 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -4049.1782, + 7378.4568, + 2176.1052 + ], + "actual_end_pos": [ + -4049.1782, + 7378.4568, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -4049.1782, + 7378.4568, + 2176.1052 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4049.1782, + 7378.4568, + 2176.1052 + ], + "actual_end_pos": [ + -4049.1782, + 7378.4568, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4049.1782, + 7378.4568, + 2176.1052 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4075.0601, + 7475.0494, + 2176.1052 + ], + "actual_end_pos": [ + -4075.0601, + 7475.0494, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4075.0601, + 7475.0494, + 2176.1052 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4075.0601, + 7475.0494, + 2176.1052 + ], + "actual_end_pos": [ + -4075.0601, + 7475.0494, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4075.0601, + 7475.0494, + 2176.1052 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4025.0601, + 7388.4468, + 2176.1052 + ], + "actual_end_pos": [ + -4025.0601, + 7388.4468, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4025.0601, + 7388.4468, + 2176.1052 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4110.9217, + 7338.8746, + 2163.0526 + ], + "actual_end_pos": [ + -4110.9217, + 7338.8746, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -4110.9217, + 7338.8746, + 2163.0526 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4110.9217, + 7338.8746, + 2163.0526 + ], + "actual_end_pos": [ + -4110.9217, + 7338.8746, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4110.9217, + 7338.8746, + 2163.0526 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4060.9217, + 7252.272, + 2163.0526 + ], + "actual_end_pos": [ + -4060.9217, + 7252.272, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4060.9217, + 7252.272, + 2163.0526 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4010.9217, + 7165.6695, + 2163.0526 + ], + "actual_end_pos": [ + -4010.9217, + 7165.6695, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4010.9217, + 7165.6695, + 2163.0526 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3960.9217, + 7079.067, + 2163.0526 + ], + "actual_end_pos": [ + -3960.9217, + 7079.067, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3960.9217, + 7079.067, + 2163.0526 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4047.5242, + 7029.067, + 2163.0526 + ], + "actual_end_pos": [ + -4047.5242, + 7029.067, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4047.5242, + 7029.067, + 2163.0526 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4047.5242, + 7029.067, + 2163.0526 + ], + "actual_end_pos": [ + -4047.5242, + 7029.067, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4047.5242, + 7029.067, + 2163.0526 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4047.5242, + 7029.067, + 2163.0526 + ], + "actual_end_pos": [ + -4047.5242, + 7029.067, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4047.5242, + 7029.067, + 2163.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3947.5242, + 7029.067, + 2163.0526 + ], + "actual_end_pos": [ + -3947.5242, + 7029.067, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3947.5242, + 7029.067, + 2163.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3847.5242, + 7029.067, + 2163.0526 + ], + "actual_end_pos": [ + -3847.5242, + 7029.067, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3847.5242, + 7029.067, + 2163.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_pos": [ + -3747.5242, + 7029.067, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_000757_meta.json b/loop_easy/run_20260410_184831__traj_000757_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e4a1230486e3e87f13e1818ab62efea448163969 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_000757_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 757, + "episode_id": 0, + "state_id": 567, + "sample_index": 567, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -3780.0, + 7340.0, + 2150.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "move_backward", + "move_left", + "move_forward", + "move_left", + "move_left", + "turn_left", + "move_left", + "turn_right", + "turn_right", + "move_forward", + "look_up", + "move_left", + "move_left", + "turn_right", + "move_right", + "turn_left", + "turn_left", + "look_down", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3780.0, + 7340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3780.0, + 7340.0, + 2150.0 + ], + "actual_end_pos": [ + -3780.0, + 7340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3780.0, + 7340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3850.7107, + 7410.7107, + 2150.0 + ], + "actual_end_pos": [ + -3850.7107, + 7410.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3850.7107, + 7410.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3921.4214, + 7340.0, + 2150.0 + ], + "actual_end_pos": [ + -3921.4214, + 7340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3921.4214, + 7340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3850.7107, + 7269.2893, + 2150.0 + ], + "actual_end_pos": [ + -3850.7107, + 7269.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3850.7107, + 7269.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3921.4214, + 7198.5786, + 2150.0 + ], + "actual_end_pos": [ + -3921.4214, + 7198.5786, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3921.4214, + 7198.5786, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3992.132, + 7127.868, + 2150.0 + ], + "actual_end_pos": [ + -3992.132, + 7127.868, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3992.132, + 7127.868, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3992.132, + 7127.868, + 2150.0 + ], + "actual_end_pos": [ + -3992.132, + 7127.868, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3992.132, + 7127.868, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4078.7346, + 7077.868, + 2150.0 + ], + "actual_end_pos": [ + -4078.7346, + 7077.868, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4078.7346, + 7077.868, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4078.7346, + 7077.868, + 2150.0 + ], + "actual_end_pos": [ + -4078.7346, + 7077.868, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4078.7346, + 7077.868, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4078.7346, + 7077.868, + 2150.0 + ], + "actual_end_pos": [ + -4078.7346, + 7077.868, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4078.7346, + 7077.868, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3992.132, + 7027.868, + 2150.0 + ], + "actual_end_pos": [ + -3992.132, + 7027.868, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3992.132, + 7027.868, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3992.132, + 7027.868, + 2150.0 + ], + "actual_end_pos": [ + -3992.132, + 7027.868, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3992.132, + 7027.868, + 2150.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4042.132, + 6941.2654, + 2150.0 + ], + "actual_end_pos": [ + -4042.132, + 6941.2654, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4042.132, + 6941.2654, + 2150.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4092.132, + 6854.6629, + 2150.0 + ], + "actual_end_pos": [ + -4092.132, + 6854.6629, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4092.132, + 6854.6629, + 2150.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4092.132, + 6854.6629, + 2150.0 + ], + "actual_end_pos": [ + -4092.132, + 6854.6629, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4092.132, + 6854.6629, + 2150.0 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4066.2501, + 6951.2555, + 2150.0 + ], + "actual_end_pos": [ + -4066.2501, + 6951.2555, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4066.2501, + 6951.2555, + 2150.0 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4066.2501, + 6951.2555, + 2150.0 + ], + "actual_end_pos": [ + -4066.2501, + 6951.2555, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4066.2501, + 6951.2555, + 2150.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4066.2501, + 6951.2555, + 2150.0 + ], + "actual_end_pos": [ + -4066.2501, + 6951.2555, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -4066.2501, + 6951.2555, + 2150.0 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4066.2501, + 6951.2555, + 2150.0 + ], + "actual_end_pos": [ + -4066.2501, + 6951.2555, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4066.2501, + 6951.2555, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4136.9608, + 7021.9661, + 2150.0 + ], + "actual_end_pos": [ + -4136.9608, + 7021.9661, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4136.9608, + 7021.9661, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4066.2501, + 7092.6768, + 2150.0 + ], + "actual_end_pos": [ + -4066.2501, + 7092.6768, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4066.2501, + 7092.6768, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3995.5395, + 7163.3875, + 2150.0 + ], + "actual_end_pos": [ + -3995.5395, + 7163.3875, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3995.5395, + 7163.3875, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3924.8288, + 7234.0982, + 2150.0 + ], + "actual_end_pos": [ + -3924.8288, + 7234.0982, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3924.8288, + 7234.0982, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3854.1181, + 7304.8089, + 2150.0 + ], + "actual_end_pos": [ + -3854.1181, + 7304.8089, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3854.1181, + 7304.8089, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_pos": [ + -3783.4074, + 7375.5195, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_000764_meta.json b/loop_easy/run_20260410_184831__traj_000764_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d2ab47c89781d8d40b49aed341d277cc8c4a6227 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_000764_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 764, + "episode_id": 0, + "state_id": 572, + "sample_index": 572, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -3780.0, + 7640.0, + 2150.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_left", + "move_left", + "no_op", + "turn_right", + "move_left", + "move_left", + "move_backward", + "look_up", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_forward", + "turn_left", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "look_down", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3780.0, + 7640.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3880.0, + 7640.0, + 2150.0 + ], + "actual_end_pos": [ + -3880.0, + 7640.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3880.0, + 7640.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3880.0, + 7640.0, + 2150.0 + ], + "actual_end_pos": [ + -3880.0, + 7640.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3880.0, + 7640.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3854.1181, + 7736.5926, + 2150.0 + ], + "actual_end_pos": [ + -3854.1181, + 7736.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3854.1181, + 7736.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3854.1181, + 7736.5926, + 2150.0 + ], + "actual_end_pos": [ + -3854.1181, + 7736.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3854.1181, + 7736.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3854.1181, + 7736.5926, + 2150.0 + ], + "actual_end_pos": [ + -3854.1181, + 7736.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3854.1181, + 7736.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3854.1181, + 7836.5926, + 2150.0 + ], + "actual_end_pos": [ + -3854.1181, + 7836.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3854.1181, + 7836.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3854.1181, + 7936.5926, + 2150.0 + ], + "actual_end_pos": [ + -3854.1181, + 7936.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3854.1181, + 7936.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3754.1181, + 7936.5926, + 2150.0 + ], + "actual_end_pos": [ + -3754.1181, + 7936.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3754.1181, + 7936.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3754.1181, + 7936.5926, + 2150.0 + ], + "actual_end_pos": [ + -3754.1181, + 7936.5926, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3754.1181, + 7936.5926, + 2150.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3853.2626, + 7936.5926, + 2163.0526 + ], + "actual_end_pos": [ + -3853.2626, + 7936.5926, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3853.2626, + 7936.5926, + 2163.0526 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3853.2626, + 7936.5926, + 2163.0526 + ], + "actual_end_pos": [ + -3853.2626, + 7936.5926, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3853.2626, + 7936.5926, + 2163.0526 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3853.2626, + 7936.5926, + 2163.0526 + ], + "actual_end_pos": [ + -3853.2626, + 7936.5926, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3853.2626, + 7936.5926, + 2163.0526 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3853.2626, + 7936.5926, + 2163.0526 + ], + "actual_end_pos": [ + -3853.2626, + 7936.5926, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3853.2626, + 7936.5926, + 2163.0526 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + -3782.5519, + 8007.3033, + 2163.0526 + ], + "actual_end_pos": [ + -3782.5519, + 8007.3033, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3782.5519, + 8007.3033, + 2163.0526 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + -3711.8412, + 8078.0139, + 2163.0526 + ], + "actual_end_pos": [ + -3711.8412, + 8078.0139, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3711.8412, + 8078.0139, + 2163.0526 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + -3781.947, + 8148.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 8148.1197, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3781.947, + 8148.1197, + 2176.1052 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + -3781.947, + 8148.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 8148.1197, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3781.947, + 8148.1197, + 2176.1052 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3781.947, + 8148.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 8148.1197, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3781.947, + 8148.1197, + 2176.1052 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + -3781.947, + 8148.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 8148.1197, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + 150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3781.947, + 8148.1197, + 2176.1052 + ], + "start_rot": [ + 7.5, + 150.0, + -0.0 + ], + "expected_end_pos": [ + -3781.947, + 8148.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 8148.1197, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3781.947, + 8148.1197, + 2176.1052 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3781.947, + 8148.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 8148.1197, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3781.947, + 8148.1197, + 2176.1052 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3781.947, + 8148.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 8148.1197, + 2176.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3781.947, + 8148.1197, + 2176.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3781.947, + 8048.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 8048.1197, + 2176.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3781.947, + 8048.1197, + 2176.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3781.947, + 7948.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 7948.1197, + 2176.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3781.947, + 7948.1197, + 2176.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3781.947, + 7848.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 7848.1197, + 2176.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3781.947, + 7848.1197, + 2176.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3781.947, + 7748.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 7748.1197, + 2176.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3781.947, + 7748.1197, + 2176.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_pos": [ + -3781.947, + 7648.1197, + 2176.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_000908_meta.json b/loop_easy/run_20260410_184831__traj_000908_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..099814ed6ab1402ebff463d96445ef19ed8f9639 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_000908_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 908, + "episode_id": 0, + "state_id": 682, + "sample_index": 682, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -3780.0, + 12140.0, + 2150.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_right", + "turn_right", + "move_left", + "move_forward", + "move_forward", + "move_right", + "move_backward", + "move_backward", + "move_right", + "move_forward", + "move_left", + "move_left", + "look_down", + "move_right", + "move_right", + "move_backward", + "turn_left", + "turn_left", + "look_up", + "move_forward", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3780.0, + 12140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3780.0, + 12140.0, + 2150.0 + ], + "actual_end_pos": [ + -3780.0, + 12140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3780.0, + 12140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3876.5926, + 12114.1181, + 2150.0 + ], + "actual_end_pos": [ + -3876.5926, + 12114.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3876.5926, + 12114.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3876.5926, + 12114.1181, + 2150.0 + ], + "actual_end_pos": [ + -3876.5926, + 12114.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3876.5926, + 12114.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3789.99, + 12164.1181, + 2150.0 + ], + "actual_end_pos": [ + -3789.99, + 12164.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3789.99, + 12164.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3839.99, + 12250.7206, + 2150.0 + ], + "actual_end_pos": [ + -3839.99, + 12250.7206, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3839.99, + 12250.7206, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3889.99, + 12337.3232, + 2150.0 + ], + "actual_end_pos": [ + -3889.99, + 12337.3232, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3889.99, + 12337.3232, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3976.5926, + 12287.3232, + 2150.0 + ], + "actual_end_pos": [ + -3976.5926, + 12287.3232, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3976.5926, + 12287.3232, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3926.5926, + 12200.7206, + 2150.0 + ], + "actual_end_pos": [ + -3926.5926, + 12200.7206, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3926.5926, + 12200.7206, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3876.5926, + 12114.1181, + 2150.0 + ], + "actual_end_pos": [ + -3876.5926, + 12114.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3876.5926, + 12114.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3963.1951, + 12064.1181, + 2150.0 + ], + "actual_end_pos": [ + -3963.1951, + 12064.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3963.1951, + 12064.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4013.1951, + 12150.7206, + 2150.0 + ], + "actual_end_pos": [ + -4013.1951, + 12150.7206, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4013.1951, + 12150.7206, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3926.5926, + 12200.7206, + 2150.0 + ], + "actual_end_pos": [ + -3926.5926, + 12200.7206, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3926.5926, + 12200.7206, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3839.99, + 12250.7206, + 2150.0 + ], + "actual_end_pos": [ + -3839.99, + 12250.7206, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3839.99, + 12250.7206, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3839.99, + 12250.7206, + 2150.0 + ], + "actual_end_pos": [ + -3839.99, + 12250.7206, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3839.99, + 12250.7206, + 2150.0 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3926.5926, + 12200.7206, + 2150.0 + ], + "actual_end_pos": [ + -3926.5926, + 12200.7206, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3926.5926, + 12200.7206, + 2150.0 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4013.1951, + 12150.7206, + 2150.0 + ], + "actual_end_pos": [ + -4013.1951, + 12150.7206, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4013.1951, + 12150.7206, + 2150.0 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3963.6229, + 12064.859, + 2163.0526 + ], + "actual_end_pos": [ + -3963.6229, + 12064.859, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3963.6229, + 12064.859, + 2163.0526 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -3963.6229, + 12064.859, + 2163.0526 + ], + "actual_end_pos": [ + -3963.6229, + 12064.859, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3963.6229, + 12064.859, + 2163.0526 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3963.6229, + 12064.859, + 2163.0526 + ], + "actual_end_pos": [ + -3963.6229, + 12064.859, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3963.6229, + 12064.859, + 2163.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3963.6229, + 12064.859, + 2163.0526 + ], + "actual_end_pos": [ + -3963.6229, + 12064.859, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3963.6229, + 12064.859, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3963.6229, + 12164.859, + 2163.0526 + ], + "actual_end_pos": [ + -3963.6229, + 12164.859, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3963.6229, + 12164.859, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3863.6229, + 12164.859, + 2163.0526 + ], + "actual_end_pos": [ + -3863.6229, + 12164.859, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3863.6229, + 12164.859, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_pos": [ + -3763.6229, + 12164.859, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_001307_meta.json b/loop_easy/run_20260410_184831__traj_001307_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1dc137a2fcca95bd102d17e4079c0742b6da2c81 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_001307_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1307, + "episode_id": 0, + "state_id": 984, + "sample_index": 984, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -3480.0, + 15140.0, + 2150.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_right", + "turn_left", + "move_left", + "no_op", + "move_right", + "turn_left", + "move_backward", + "move_left", + "move_forward", + "no_op", + "no_op", + "turn_right", + "move_right", + "look_up", + "turn_right", + "turn_right", + "look_down", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3480.0, + 15140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3480.0, + 15140.0, + 2150.0 + ], + "actual_end_pos": [ + -3480.0, + 15140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3480.0, + 15140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3454.1181, + 15236.5926, + 2150.0 + ], + "actual_end_pos": [ + -3454.1181, + 15236.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3454.1181, + 15236.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3454.1181, + 15236.5926, + 2150.0 + ], + "actual_end_pos": [ + -3454.1181, + 15236.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3454.1181, + 15236.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3504.1181, + 15149.99, + 2150.0 + ], + "actual_end_pos": [ + -3504.1181, + 15149.99, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3504.1181, + 15149.99, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3504.1181, + 15149.99, + 2150.0 + ], + "actual_end_pos": [ + -3504.1181, + 15149.99, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3504.1181, + 15149.99, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3454.1181, + 15236.5926, + 2150.0 + ], + "actual_end_pos": [ + -3454.1181, + 15236.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3454.1181, + 15236.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3454.1181, + 15236.5926, + 2150.0 + ], + "actual_end_pos": [ + -3454.1181, + 15236.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3454.1181, + 15236.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3524.8288, + 15307.3033, + 2150.0 + ], + "actual_end_pos": [ + -3524.8288, + 15307.3033, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3524.8288, + 15307.3033, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3595.5395, + 15236.5926, + 2150.0 + ], + "actual_end_pos": [ + -3595.5395, + 15236.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3595.5395, + 15236.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3524.8288, + 15165.8819, + 2150.0 + ], + "actual_end_pos": [ + -3524.8288, + 15165.8819, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3524.8288, + 15165.8819, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3524.8288, + 15165.8819, + 2150.0 + ], + "actual_end_pos": [ + -3524.8288, + 15165.8819, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3524.8288, + 15165.8819, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3524.8288, + 15165.8819, + 2150.0 + ], + "actual_end_pos": [ + -3524.8288, + 15165.8819, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3524.8288, + 15165.8819, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3524.8288, + 15165.8819, + 2150.0 + ], + "actual_end_pos": [ + -3524.8288, + 15165.8819, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3524.8288, + 15165.8819, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15252.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15252.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3474.8288, + 15252.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15252.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15252.4844, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3474.8288, + 15252.4844, + 2150.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15252.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15252.4844, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3474.8288, + 15252.4844, + 2150.0 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15252.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15252.4844, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3474.8288, + 15252.4844, + 2150.0 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15252.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15252.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3474.8288, + 15252.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_pos": [ + -3474.8288, + 15152.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_001329_meta.json b/loop_easy/run_20260410_184831__traj_001329_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8dcd2f0197d85f026dc377e039d8a106b80054f1 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_001329_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1329, + "episode_id": 0, + "state_id": 999, + "sample_index": 999, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -3480.0, + 15440.0, + 2150.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_backward", + "no_op", + "move_left", + "turn_right", + "move_forward", + "move_forward", + "look_down", + "move_left", + "move_backward", + "look_up", + "move_left", + "look_down", + "move_forward", + "move_forward", + "move_right", + "turn_right", + "move_right", + "turn_right", + "move_left", + "turn_right", + "turn_left", + "turn_left", + "turn_left", + "look_up", + "move_backward", + "move_backward", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3480.0, + 15440.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3480.0, + 15440.0, + 2150.0 + ], + "actual_end_pos": [ + -3480.0, + 15440.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3480.0, + 15440.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3530.0, + 15526.6025, + 2150.0 + ], + "actual_end_pos": [ + -3530.0, + 15526.6025, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3530.0, + 15526.6025, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3530.0, + 15526.6025, + 2150.0 + ], + "actual_end_pos": [ + -3530.0, + 15526.6025, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3530.0, + 15526.6025, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3616.6025, + 15476.6025, + 2150.0 + ], + "actual_end_pos": [ + -3616.6025, + 15476.6025, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3616.6025, + 15476.6025, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3616.6025, + 15476.6025, + 2150.0 + ], + "actual_end_pos": [ + -3616.6025, + 15476.6025, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3616.6025, + 15476.6025, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3545.8919, + 15405.8919, + 2150.0 + ], + "actual_end_pos": [ + -3545.8919, + 15405.8919, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3545.8919, + 15405.8919, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3475.1812, + 15335.1812, + 2150.0 + ], + "actual_end_pos": [ + -3475.1812, + 15335.1812, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3475.1812, + 15335.1812, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3475.1812, + 15335.1812, + 2150.0 + ], + "actual_end_pos": [ + -3475.1812, + 15335.1812, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3475.1812, + 15335.1812, + 2150.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3545.8919, + 15264.4705, + 2150.0 + ], + "actual_end_pos": [ + -3545.8919, + 15264.4705, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3545.8919, + 15264.4705, + 2150.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3615.9976, + 15334.5762, + 2163.0526 + ], + "actual_end_pos": [ + -3615.9976, + 15334.5762, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3615.9976, + 15334.5762, + 2163.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3615.9976, + 15334.5762, + 2163.0526 + ], + "actual_end_pos": [ + -3615.9976, + 15334.5762, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3615.9976, + 15334.5762, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3686.7083, + 15263.8656, + 2163.0526 + ], + "actual_end_pos": [ + -3686.7083, + 15263.8656, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3686.7083, + 15263.8656, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3686.7083, + 15263.8656, + 2163.0526 + ], + "actual_end_pos": [ + -3686.7083, + 15263.8656, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3686.7083, + 15263.8656, + 2163.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3616.6025, + 15193.7598, + 2150.0 + ], + "actual_end_pos": [ + -3616.6025, + 15193.7598, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3616.6025, + 15193.7598, + 2150.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3546.4968, + 15123.6541, + 2136.9474 + ], + "actual_end_pos": [ + -3546.4968, + 15123.6541, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3546.4968, + 15123.6541, + 2136.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3475.7861, + 15194.3648, + 2136.9474 + ], + "actual_end_pos": [ + -3475.7861, + 15194.3648, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3475.7861, + 15194.3648, + 2136.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3475.7861, + 15194.3648, + 2136.9474 + ], + "actual_end_pos": [ + -3475.7861, + 15194.3648, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3475.7861, + 15194.3648, + 2136.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3425.7861, + 15280.9673, + 2136.9474 + ], + "actual_end_pos": [ + -3425.7861, + 15280.9673, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3425.7861, + 15280.9673, + 2136.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3425.7861, + 15280.9673, + 2136.9474 + ], + "actual_end_pos": [ + -3425.7861, + 15280.9673, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3425.7861, + 15280.9673, + 2136.9474 + ], + "start_rot": [ + -7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3451.668, + 15184.3747, + 2136.9474 + ], + "actual_end_pos": [ + -3451.668, + 15184.3747, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3451.668, + 15184.3747, + 2136.9474 + ], + "start_rot": [ + -7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3451.668, + 15184.3747, + 2136.9474 + ], + "actual_end_pos": [ + -3451.668, + 15184.3747, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3451.668, + 15184.3747, + 2136.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3451.668, + 15184.3747, + 2136.9474 + ], + "actual_end_pos": [ + -3451.668, + 15184.3747, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3451.668, + 15184.3747, + 2136.9474 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -3451.668, + 15184.3747, + 2136.9474 + ], + "actual_end_pos": [ + -3451.668, + 15184.3747, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3451.668, + 15184.3747, + 2136.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3451.668, + 15184.3747, + 2136.9474 + ], + "actual_end_pos": [ + -3451.668, + 15184.3747, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3451.668, + 15184.3747, + 2136.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3451.668, + 15184.3747, + 2136.9474 + ], + "actual_end_pos": [ + -3451.668, + 15184.3747, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3451.668, + 15184.3747, + 2136.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3522.3787, + 15255.0854, + 2136.9474 + ], + "actual_end_pos": [ + -3522.3787, + 15255.0854, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3522.3787, + 15255.0854, + 2136.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3593.0894, + 15325.7961, + 2136.9474 + ], + "actual_end_pos": [ + -3593.0894, + 15325.7961, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3593.0894, + 15325.7961, + 2136.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3522.3787, + 15396.5068, + 2136.9474 + ], + "actual_end_pos": [ + -3522.3787, + 15396.5068, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3522.3787, + 15396.5068, + 2136.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_pos": [ + -3451.668, + 15467.2174, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_001415_meta.json b/loop_easy/run_20260410_184831__traj_001415_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5de4b2abc686f9c249df9e3b49019656cce27d1a --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_001415_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1415, + "episode_id": 0, + "state_id": 1062, + "sample_index": 1062, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -3180.0, + 7940.0, + 2150.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_left", + "turn_left", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "move_forward", + "move_left", + "look_down", + "turn_right", + "move_right", + "look_down", + "turn_right", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3180.0, + 7940.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3180.0, + 7840.0, + 2150.0 + ], + "actual_end_pos": [ + -3180.0, + 7840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3180.0, + 7840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3180.0, + 7840.0, + 2150.0 + ], + "actual_end_pos": [ + -3180.0, + 7840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3180.0, + 7840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3180.0, + 7840.0, + 2150.0 + ], + "actual_end_pos": [ + -3180.0, + 7840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3180.0, + 7840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3266.6025, + 7890.0, + 2150.0 + ], + "actual_end_pos": [ + -3266.6025, + 7890.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3266.6025, + 7890.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3316.6025, + 7803.3975, + 2150.0 + ], + "actual_end_pos": [ + -3316.6025, + 7803.3975, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3316.6025, + 7803.3975, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3366.6025, + 7716.7949, + 2150.0 + ], + "actual_end_pos": [ + -3366.6025, + 7716.7949, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3366.6025, + 7716.7949, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3416.6025, + 7630.1924, + 2150.0 + ], + "actual_end_pos": [ + -3416.6025, + 7630.1924, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3416.6025, + 7630.1924, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3503.2051, + 7680.1924, + 2150.0 + ], + "actual_end_pos": [ + -3503.2051, + 7680.1924, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3503.2051, + 7680.1924, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3553.2051, + 7593.5898, + 2150.0 + ], + "actual_end_pos": [ + -3553.2051, + 7593.5898, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3553.2051, + 7593.5898, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3603.2051, + 7506.9873, + 2150.0 + ], + "actual_end_pos": [ + -3603.2051, + 7506.9873, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3603.2051, + 7506.9873, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3689.8076, + 7556.9873, + 2150.0 + ], + "actual_end_pos": [ + -3689.8076, + 7556.9873, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3689.8076, + 7556.9873, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3689.8076, + 7556.9873, + 2150.0 + ], + "actual_end_pos": [ + -3689.8076, + 7556.9873, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3689.8076, + 7556.9873, + 2150.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -3689.8076, + 7556.9873, + 2150.0 + ], + "actual_end_pos": [ + -3689.8076, + 7556.9873, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3689.8076, + 7556.9873, + 2150.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3593.215, + 7531.1054, + 2150.0 + ], + "actual_end_pos": [ + -3593.215, + 7531.1054, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3593.215, + 7531.1054, + 2150.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3593.215, + 7531.1054, + 2150.0 + ], + "actual_end_pos": [ + -3593.215, + 7531.1054, + 2150.0 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3593.215, + 7531.1054, + 2150.0 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3593.215, + 7531.1054, + 2150.0 + ], + "actual_end_pos": [ + -3593.215, + 7531.1054, + 2150.0 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3593.215, + 7531.1054, + 2150.0 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3593.215, + 7531.1054, + 2150.0 + ], + "actual_end_pos": [ + -3593.215, + 7531.1054, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3593.215, + 7531.1054, + 2150.0 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3593.215, + 7630.2499, + 2163.0526 + ], + "actual_end_pos": [ + -3593.215, + 7630.2499, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3593.215, + 7630.2499, + 2163.0526 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3593.215, + 7729.3944, + 2176.1052 + ], + "actual_end_pos": [ + -3593.215, + 7729.3944, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3593.215, + 7729.3944, + 2176.1052 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3593.215, + 7828.5388, + 2189.1579 + ], + "actual_end_pos": [ + -3593.215, + 7828.5388, + 2189.1579 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3593.215, + 7828.5388, + 2189.1579 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3593.215, + 7927.6833, + 2202.2105 + ], + "actual_end_pos": [ + -3593.215, + 7927.6833, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3593.215, + 7927.6833, + 2202.2105 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3493.215, + 7927.6833, + 2202.2105 + ], + "actual_end_pos": [ + -3493.215, + 7927.6833, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3493.215, + 7927.6833, + 2202.2105 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3393.215, + 7927.6833, + 2202.2105 + ], + "actual_end_pos": [ + -3393.215, + 7927.6833, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3393.215, + 7927.6833, + 2202.2105 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3293.215, + 7927.6833, + 2202.2105 + ], + "actual_end_pos": [ + -3293.215, + 7927.6833, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3293.215, + 7927.6833, + 2202.2105 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_pos": [ + -3193.215, + 7927.6833, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_001544_meta.json b/loop_easy/run_20260410_184831__traj_001544_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..332eb87068541c421893fa5140060e58a6e087fb --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_001544_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1544, + "episode_id": 0, + "state_id": 1159, + "sample_index": 1159, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -3180.0, + 13940.0, + 2150.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "no_op", + "turn_right", + "move_forward", + "turn_right", + "move_backward", + "look_down", + "turn_left", + "move_forward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_backward", + "look_up", + "move_right", + "move_backward", + "move_left", + "look_down", + "move_forward", + "move_right", + "look_down", + "move_left", + "look_up", + "move_forward", + "turn_left", + "look_up", + "move_forward", + "move_forward", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3180.0, + 13940.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3250.7107, + 14010.7107, + 2150.0 + ], + "actual_end_pos": [ + -3250.7107, + 14010.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3250.7107, + 14010.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3321.4214, + 14081.4214, + 2150.0 + ], + "actual_end_pos": [ + -3321.4214, + 14081.4214, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3321.4214, + 14081.4214, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3321.4214, + 14081.4214, + 2150.0 + ], + "actual_end_pos": [ + -3321.4214, + 14081.4214, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3321.4214, + 14081.4214, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3321.4214, + 14081.4214, + 2150.0 + ], + "actual_end_pos": [ + -3321.4214, + 14081.4214, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3321.4214, + 14081.4214, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3234.8188, + 14031.4214, + 2150.0 + ], + "actual_end_pos": [ + -3234.8188, + 14031.4214, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3234.8188, + 14031.4214, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3234.8188, + 14031.4214, + 2150.0 + ], + "actual_end_pos": [ + -3234.8188, + 14031.4214, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3234.8188, + 14031.4214, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3331.4114, + 14057.3033, + 2150.0 + ], + "actual_end_pos": [ + -3331.4114, + 14057.3033, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3331.4114, + 14057.3033, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -3331.4114, + 14057.3033, + 2150.0 + ], + "actual_end_pos": [ + -3331.4114, + 14057.3033, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3331.4114, + 14057.3033, + 2150.0 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -3331.4114, + 14057.3033, + 2150.0 + ], + "actual_end_pos": [ + -3331.4114, + 14057.3033, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3331.4114, + 14057.3033, + 2150.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3245.5498, + 14007.731, + 2136.9474 + ], + "actual_end_pos": [ + -3245.5498, + 14007.731, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3245.5498, + 14007.731, + 2136.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3195.5498, + 14094.3336, + 2136.9474 + ], + "actual_end_pos": [ + -3195.5498, + 14094.3336, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3195.5498, + 14094.3336, + 2136.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3145.5498, + 14180.9361, + 2136.9474 + ], + "actual_end_pos": [ + -3145.5498, + 14180.9361, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3145.5498, + 14180.9361, + 2136.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3095.5498, + 14267.5386, + 2136.9474 + ], + "actual_end_pos": [ + -3095.5498, + 14267.5386, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3095.5498, + 14267.5386, + 2136.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3045.5498, + 14354.1412, + 2136.9474 + ], + "actual_end_pos": [ + -3045.5498, + 14354.1412, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3045.5498, + 14354.1412, + 2136.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3131.4114, + 14403.7134, + 2150.0 + ], + "actual_end_pos": [ + -3131.4114, + 14403.7134, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3131.4114, + 14403.7134, + 2150.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3131.4114, + 14403.7134, + 2150.0 + ], + "actual_end_pos": [ + -3131.4114, + 14403.7134, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3131.4114, + 14403.7134, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3081.4114, + 14490.316, + 2150.0 + ], + "actual_end_pos": [ + -3081.4114, + 14490.316, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3081.4114, + 14490.316, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3168.0139, + 14540.316, + 2150.0 + ], + "actual_end_pos": [ + -3168.0139, + 14540.316, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3168.0139, + 14540.316, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3218.0139, + 14453.7134, + 2150.0 + ], + "actual_end_pos": [ + -3218.0139, + 14453.7134, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3218.0139, + 14453.7134, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3218.0139, + 14453.7134, + 2150.0 + ], + "actual_end_pos": [ + -3218.0139, + 14453.7134, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3218.0139, + 14453.7134, + 2150.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3132.1523, + 14404.1412, + 2136.9474 + ], + "actual_end_pos": [ + -3132.1523, + 14404.1412, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3132.1523, + 14404.1412, + 2136.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3082.1523, + 14490.7437, + 2136.9474 + ], + "actual_end_pos": [ + -3082.1523, + 14490.7437, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3082.1523, + 14490.7437, + 2136.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3082.1523, + 14490.7437, + 2136.9474 + ], + "actual_end_pos": [ + -3082.1523, + 14490.7437, + 2136.9474 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3082.1523, + 14490.7437, + 2136.9474 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3132.1523, + 14404.1412, + 2136.9474 + ], + "actual_end_pos": [ + -3132.1523, + 14404.1412, + 2136.9474 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3132.1523, + 14404.1412, + 2136.9474 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3132.1523, + 14404.1412, + 2136.9474 + ], + "actual_end_pos": [ + -3132.1523, + 14404.1412, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3132.1523, + 14404.1412, + 2136.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3046.2907, + 14354.5689, + 2123.8948 + ], + "actual_end_pos": [ + -3046.2907, + 14354.5689, + 2123.8948 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3046.2907, + 14354.5689, + 2123.8948 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -3046.2907, + 14354.5689, + 2123.8948 + ], + "actual_end_pos": [ + -3046.2907, + 14354.5689, + 2123.8948 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3046.2907, + 14354.5689, + 2123.8948 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3046.2907, + 14354.5689, + 2123.8948 + ], + "actual_end_pos": [ + -3046.2907, + 14354.5689, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3046.2907, + 14354.5689, + 2123.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2975.58, + 14283.8583, + 2123.8948 + ], + "actual_end_pos": [ + -2975.58, + 14283.8583, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2975.58, + 14283.8583, + 2123.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2904.8693, + 14213.1476, + 2123.8948 + ], + "actual_end_pos": [ + -2904.8693, + 14213.1476, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2904.8693, + 14213.1476, + 2123.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2975.58, + 14142.4369, + 2123.8948 + ], + "actual_end_pos": [ + -2975.58, + 14142.4369, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2975.58, + 14142.4369, + 2123.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3046.2907, + 14071.7262, + 2123.8948 + ], + "actual_end_pos": [ + -3046.2907, + 14071.7262, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3046.2907, + 14071.7262, + 2123.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3117.0013, + 14001.0155, + 2123.8948 + ], + "actual_end_pos": [ + -3117.0013, + 14001.0155, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3117.0013, + 14001.0155, + 2123.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3187.712, + 13930.3049, + 2123.8948 + ], + "actual_end_pos": [ + -3187.712, + 13930.3049, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3187.712, + 13930.3049, + 2123.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3187.712, + 13930.3049, + 2123.8948 + ], + "actual_end_pos": [ + -3187.712, + 13930.3049, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3187.712, + 13930.3049, + 2123.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3187.712, + 13930.3049, + 2123.8948 + ], + "actual_end_pos": [ + -3187.712, + 13930.3049, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3187.712, + 13930.3049, + 2123.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3187.712, + 13930.3049, + 2123.8948 + ], + "actual_end_pos": [ + -3187.712, + 13930.3049, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3187.712, + 13930.3049, + 2123.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3187.712, + 13930.3049, + 2123.8948 + ], + "actual_end_pos": [ + -3187.712, + 13930.3049, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3187.712, + 13930.3049, + 2123.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3187.712, + 13930.3049, + 2123.8948 + ], + "actual_end_pos": [ + -3187.712, + 13930.3049, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3187.712, + 13930.3049, + 2123.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3187.712, + 13930.3049, + 2123.8948 + ], + "actual_end_pos": [ + -3187.712, + 13930.3049, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_001547_meta.json b/loop_easy/run_20260410_184831__traj_001547_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..094d6d5e546d0572e9b4ac35a493f89c5753e8e8 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_001547_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1547, + "episode_id": 0, + "state_id": 1162, + "sample_index": 1162, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -3180.0, + 14240.0, + 2150.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_forward", + "no_op", + "turn_left", + "move_right", + "turn_left", + "move_left", + "turn_left", + "move_backward", + "move_backward", + "turn_right", + "move_forward", + "no_op", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3180.0, + 14240.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3280.0, + 14240.0, + 2150.0 + ], + "actual_end_pos": [ + -3280.0, + 14240.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3280.0, + 14240.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3380.0, + 14240.0, + 2150.0 + ], + "actual_end_pos": [ + -3380.0, + 14240.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3380.0, + 14240.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3380.0, + 14340.0, + 2150.0 + ], + "actual_end_pos": [ + -3380.0, + 14340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3380.0, + 14340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3380.0, + 14340.0, + 2150.0 + ], + "actual_end_pos": [ + -3380.0, + 14340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3380.0, + 14340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3380.0, + 14340.0, + 2150.0 + ], + "actual_end_pos": [ + -3380.0, + 14340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3380.0, + 14340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -3476.5926, + 14365.8819, + 2150.0 + ], + "actual_end_pos": [ + -3476.5926, + 14365.8819, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3476.5926, + 14365.8819, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -3476.5926, + 14365.8819, + 2150.0 + ], + "actual_end_pos": [ + -3476.5926, + 14365.8819, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3476.5926, + 14365.8819, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3389.99, + 14315.8819, + 2150.0 + ], + "actual_end_pos": [ + -3389.99, + 14315.8819, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3389.99, + 14315.8819, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3389.99, + 14315.8819, + 2150.0 + ], + "actual_end_pos": [ + -3389.99, + 14315.8819, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3389.99, + 14315.8819, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3460.7007, + 14245.1712, + 2150.0 + ], + "actual_end_pos": [ + -3460.7007, + 14245.1712, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3460.7007, + 14245.1712, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3531.4114, + 14174.4606, + 2150.0 + ], + "actual_end_pos": [ + -3531.4114, + 14174.4606, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3531.4114, + 14174.4606, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3531.4114, + 14174.4606, + 2150.0 + ], + "actual_end_pos": [ + -3531.4114, + 14174.4606, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3531.4114, + 14174.4606, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3481.4114, + 14261.0631, + 2150.0 + ], + "actual_end_pos": [ + -3481.4114, + 14261.0631, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3481.4114, + 14261.0631, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3481.4114, + 14261.0631, + 2150.0 + ], + "actual_end_pos": [ + -3481.4114, + 14261.0631, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3481.4114, + 14261.0631, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3431.4114, + 14347.6656, + 2150.0 + ], + "actual_end_pos": [ + -3431.4114, + 14347.6656, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3431.4114, + 14347.6656, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3381.4114, + 14434.2682, + 2150.0 + ], + "actual_end_pos": [ + -3381.4114, + 14434.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3381.4114, + 14434.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3381.4114, + 14434.2682, + 2150.0 + ], + "actual_end_pos": [ + -3381.4114, + 14434.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3381.4114, + 14434.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -3381.4114, + 14434.2682, + 2150.0 + ], + "actual_end_pos": [ + -3381.4114, + 14434.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3381.4114, + 14434.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3381.4114, + 14334.2682, + 2150.0 + ], + "actual_end_pos": [ + -3381.4114, + 14334.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3381.4114, + 14334.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3381.4114, + 14234.2682, + 2150.0 + ], + "actual_end_pos": [ + -3381.4114, + 14234.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3381.4114, + 14234.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3281.4114, + 14234.2682, + 2150.0 + ], + "actual_end_pos": [ + -3281.4114, + 14234.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3281.4114, + 14234.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_pos": [ + -3181.4114, + 14234.2682, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_001571_meta.json b/loop_easy/run_20260410_184831__traj_001571_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..23b3e42f224dc51bc65966df48f71793d80eccd9 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_001571_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1571, + "episode_id": 0, + "state_id": 1178, + "sample_index": 1178, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -3180.0, + 14840.0, + 2150.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_right", + "turn_left", + "move_forward", + "turn_right", + "look_down", + "no_op", + "no_op", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "look_down", + "move_forward", + "move_forward", + "move_left", + "turn_right", + "look_up", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3180.0, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3180.0, + 14840.0, + 2150.0 + ], + "actual_end_pos": [ + -3180.0, + 14840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3180.0, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3276.5926, + 14814.1181, + 2150.0 + ], + "actual_end_pos": [ + -3276.5926, + 14814.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3276.5926, + 14814.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3276.5926, + 14814.1181, + 2150.0 + ], + "actual_end_pos": [ + -3276.5926, + 14814.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3276.5926, + 14814.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3276.5926, + 14914.1181, + 2150.0 + ], + "actual_end_pos": [ + -3276.5926, + 14914.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3276.5926, + 14914.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3276.5926, + 14914.1181, + 2150.0 + ], + "actual_end_pos": [ + -3276.5926, + 14914.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3276.5926, + 14914.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3276.5926, + 14914.1181, + 2150.0 + ], + "actual_end_pos": [ + -3276.5926, + 14914.1181, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3276.5926, + 14914.1181, + 2150.0 + ], + "start_rot": [ + -7.5, + 105.0, + -0.0 + ], + "expected_end_pos": [ + -3276.5926, + 14914.1181, + 2150.0 + ], + "actual_end_pos": [ + -3276.5926, + 14914.1181, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3276.5926, + 14914.1181, + 2150.0 + ], + "start_rot": [ + -7.5, + 105.0, + -0.0 + ], + "expected_end_pos": [ + -3276.5926, + 14914.1181, + 2150.0 + ], + "actual_end_pos": [ + -3276.5926, + 14914.1181, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3276.5926, + 14914.1181, + 2150.0 + ], + "start_rot": [ + -7.5, + 105.0, + -0.0 + ], + "expected_end_pos": [ + -3250.9321, + 14818.3519, + 2163.0526 + ], + "actual_end_pos": [ + -3250.9321, + 14818.3519, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3250.9321, + 14818.3519, + 2163.0526 + ], + "start_rot": [ + -7.5, + 105.0, + -0.0 + ], + "expected_end_pos": [ + -3225.2716, + 14722.5857, + 2176.1052 + ], + "actual_end_pos": [ + -3225.2716, + 14722.5857, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3225.2716, + 14722.5857, + 2176.1052 + ], + "start_rot": [ + -7.5, + 105.0, + -0.0 + ], + "expected_end_pos": [ + -3225.2716, + 14722.5857, + 2176.1052 + ], + "actual_end_pos": [ + -3225.2716, + 14722.5857, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3225.2716, + 14722.5857, + 2176.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3225.2716, + 14722.5857, + 2176.1052 + ], + "actual_end_pos": [ + -3225.2716, + 14722.5857, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3225.2716, + 14722.5857, + 2176.1052 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -3225.2716, + 14722.5857, + 2176.1052 + ], + "actual_end_pos": [ + -3225.2716, + 14722.5857, + 2176.1052 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3225.2716, + 14722.5857, + 2176.1052 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -3200.2716, + 14815.8869, + 2150.2233 + ], + "actual_end_pos": [ + -3200.2716, + 14815.8869, + 2150.2233 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3200.2716, + 14815.8869, + 2150.2233 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -3175.2716, + 14909.1882, + 2124.3414 + ], + "actual_end_pos": [ + -3175.2716, + 14909.1882, + 2124.3414 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3175.2716, + 14909.1882, + 2124.3414 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -3078.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3078.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3078.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -3078.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3078.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3078.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3078.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3078.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3078.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_pos": [ + -3178.679, + 14883.3063, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_001587_meta.json b/loop_easy/run_20260410_184831__traj_001587_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d788c7c7a6b155dacdc3e640b7565f4165ef5a63 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_001587_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1587, + "episode_id": 0, + "state_id": 1190, + "sample_index": 1190, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -3180.0, + 15140.0, + 2150.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "move_left", + "turn_right", + "no_op", + "look_up", + "move_right", + "move_right", + "look_up", + "turn_right", + "move_backward", + "move_left", + "move_backward", + "turn_left", + "no_op", + "move_forward", + "no_op", + "move_forward", + "turn_left", + "move_left", + "no_op", + "turn_left", + "turn_right", + "look_down", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3180.0, + 15140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3180.0, + 15140.0, + 2150.0 + ], + "actual_end_pos": [ + -3180.0, + 15140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3180.0, + 15140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3280.0, + 15140.0, + 2150.0 + ], + "actual_end_pos": [ + -3280.0, + 15140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3280.0, + 15140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3280.0, + 15140.0, + 2150.0 + ], + "actual_end_pos": [ + -3280.0, + 15140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3280.0, + 15140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3280.0, + 15140.0, + 2150.0 + ], + "actual_end_pos": [ + -3280.0, + 15140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3280.0, + 15140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3280.0, + 15140.0, + 2150.0 + ], + "actual_end_pos": [ + -3280.0, + 15140.0, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3280.0, + 15140.0, + 2150.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3183.4074, + 15165.8819, + 2150.0 + ], + "actual_end_pos": [ + -3183.4074, + 15165.8819, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3183.4074, + 15165.8819, + 2150.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3086.8148, + 15191.7638, + 2150.0 + ], + "actual_end_pos": [ + -3086.8148, + 15191.7638, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3086.8148, + 15191.7638, + 2150.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3086.8148, + 15191.7638, + 2150.0 + ], + "actual_end_pos": [ + -3086.8148, + 15191.7638, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3086.8148, + 15191.7638, + 2150.0 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3086.8148, + 15191.7638, + 2150.0 + ], + "actual_end_pos": [ + -3086.8148, + 15191.7638, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3086.8148, + 15191.7638, + 2150.0 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3135.1111, + 15275.4154, + 2124.1181 + ], + "actual_end_pos": [ + -3135.1111, + 15275.4154, + 2124.1181 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3135.1111, + 15275.4154, + 2124.1181 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3221.7137, + 15225.4154, + 2124.1181 + ], + "actual_end_pos": [ + -3221.7137, + 15225.4154, + 2124.1181 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3221.7137, + 15225.4154, + 2124.1181 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3270.01, + 15309.0671, + 2098.2362 + ], + "actual_end_pos": [ + -3270.01, + 15309.0671, + 2098.2362 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3270.01, + 15309.0671, + 2098.2362 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -3270.01, + 15309.0671, + 2098.2362 + ], + "actual_end_pos": [ + -3270.01, + 15309.0671, + 2098.2362 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3270.01, + 15309.0671, + 2098.2362 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3270.01, + 15309.0671, + 2098.2362 + ], + "actual_end_pos": [ + -3270.01, + 15309.0671, + 2098.2362 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3270.01, + 15309.0671, + 2098.2362 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3245.01, + 15215.7658, + 2124.1181 + ], + "actual_end_pos": [ + -3245.01, + 15215.7658, + 2124.1181 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3245.01, + 15215.7658, + 2124.1181 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3245.01, + 15215.7658, + 2124.1181 + ], + "actual_end_pos": [ + -3245.01, + 15215.7658, + 2124.1181 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3245.01, + 15215.7658, + 2124.1181 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3320.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3320.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3320.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3320.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3320.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3320.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3320.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3320.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3320.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -3320.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3320.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3320.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3320.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3320.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3320.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_pos": [ + -3220.01, + 15122.4645, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_001649_meta.json b/loop_easy/run_20260410_184831__traj_001649_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..97d225cbe427b0d0f6ab91670ab2a02d88a3c67b --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_001649_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1649, + "episode_id": 0, + "state_id": 1233, + "sample_index": 1233, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2880.0, + 6740.0, + 2150.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "look_down", + "move_left", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "move_right", + "look_down", + "move_backward", + "look_down", + "turn_left", + "no_op", + "move_right", + "turn_left", + "move_forward", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_forward", + "move_right", + "turn_right", + "no_op", + "turn_left", + "move_left", + "turn_right", + "turn_right", + "look_up", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2880.0, + 6740.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2880.0, + 6740.0, + 2150.0 + ], + "actual_end_pos": [ + -2880.0, + 6740.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2880.0, + 6740.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2880.0, + 6740.0, + 2150.0 + ], + "actual_end_pos": [ + -2880.0, + 6740.0, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2880.0, + 6740.0, + 2150.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + -2793.3975, + 6690.0, + 2150.0 + ], + "actual_end_pos": [ + -2793.3975, + 6690.0, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2793.3975, + 6690.0, + 2150.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + -2706.7949, + 6640.0, + 2150.0 + ], + "actual_end_pos": [ + -2706.7949, + 6640.0, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2706.7949, + 6640.0, + 2150.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + -2657.2227, + 6725.8616, + 2136.9474 + ], + "actual_end_pos": [ + -2657.2227, + 6725.8616, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2657.2227, + 6725.8616, + 2136.9474 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + -2607.6504, + 6811.7233, + 2123.8948 + ], + "actual_end_pos": [ + -2607.6504, + 6811.7233, + 2123.8948 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2607.6504, + 6811.7233, + 2123.8948 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + -2558.0782, + 6897.5849, + 2110.8421 + ], + "actual_end_pos": [ + -2558.0782, + 6897.5849, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2558.0782, + 6897.5849, + 2110.8421 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + -2471.4756, + 6847.5849, + 2110.8421 + ], + "actual_end_pos": [ + -2471.4756, + 6847.5849, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2471.4756, + 6847.5849, + 2110.8421 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + -2421.9034, + 6933.4466, + 2097.7895 + ], + "actual_end_pos": [ + -2421.9034, + 6933.4466, + 2097.7895 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2421.9034, + 6933.4466, + 2097.7895 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + -2508.5059, + 6983.4466, + 2097.7895 + ], + "actual_end_pos": [ + -2508.5059, + 6983.4466, + 2097.7895 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2508.5059, + 6983.4466, + 2097.7895 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + -2508.5059, + 6983.4466, + 2097.7895 + ], + "actual_end_pos": [ + -2508.5059, + 6983.4466, + 2097.7895 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2508.5059, + 6983.4466, + 2097.7895 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2556.8022, + 6899.7949, + 2123.6714 + ], + "actual_end_pos": [ + -2556.8022, + 6899.7949, + 2123.6714 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2556.8022, + 6899.7949, + 2123.6714 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2556.8022, + 6899.7949, + 2123.6714 + ], + "actual_end_pos": [ + -2556.8022, + 6899.7949, + 2123.6714 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2556.8022, + 6899.7949, + 2123.6714 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2556.8022, + 6899.7949, + 2123.6714 + ], + "actual_end_pos": [ + -2556.8022, + 6899.7949, + 2123.6714 + ], + "actual_end_rot": [ + -22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2556.8022, + 6899.7949, + 2123.6714 + ], + "start_rot": [ + -22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2556.8022, + 6899.7949, + 2123.6714 + ], + "actual_end_pos": [ + -2556.8022, + 6899.7949, + 2123.6714 + ], + "actual_end_rot": [ + -22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2556.8022, + 6899.7949, + 2123.6714 + ], + "start_rot": [ + -22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2627.5129, + 6970.5056, + 2123.6714 + ], + "actual_end_pos": [ + -2627.5129, + 6970.5056, + 2123.6714 + ], + "actual_end_rot": [ + -22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2627.5129, + 6970.5056, + 2123.6714 + ], + "start_rot": [ + -22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2627.5129, + 6970.5056, + 2123.6714 + ], + "actual_end_pos": [ + -2627.5129, + 6970.5056, + 2123.6714 + ], + "actual_end_rot": [ + -22.5, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2627.5129, + 6970.5056, + 2123.6714 + ], + "start_rot": [ + -22.5, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -2547.5026, + 7016.6996, + 2085.4031 + ], + "actual_end_pos": [ + -2547.5026, + 7016.6996, + 2085.4031 + ], + "actual_end_rot": [ + -22.5, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2547.5026, + 7016.6996, + 2085.4031 + ], + "start_rot": [ + -22.5, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -2547.5026, + 7016.6996, + 2085.4031 + ], + "actual_end_pos": [ + -2547.5026, + 7016.6996, + 2085.4031 + ], + "actual_end_rot": [ + -22.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2547.5026, + 7016.6996, + 2085.4031 + ], + "start_rot": [ + -22.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2521.6207, + 6920.107, + 2085.4031 + ], + "actual_end_pos": [ + -2521.6207, + 6920.107, + 2085.4031 + ], + "actual_end_rot": [ + -22.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2521.6207, + 6920.107, + 2085.4031 + ], + "start_rot": [ + -22.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2495.7388, + 6823.5144, + 2085.4031 + ], + "actual_end_pos": [ + -2495.7388, + 6823.5144, + 2085.4031 + ], + "actual_end_rot": [ + -22.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2495.7388, + 6823.5144, + 2085.4031 + ], + "start_rot": [ + -22.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2469.8569, + 6726.9218, + 2085.4031 + ], + "actual_end_pos": [ + -2469.8569, + 6726.9218, + 2085.4031 + ], + "actual_end_rot": [ + -22.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2469.8569, + 6726.9218, + 2085.4031 + ], + "start_rot": [ + -22.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2380.617, + 6750.8336, + 2047.1347 + ], + "actual_end_pos": [ + -2380.617, + 6750.8336, + 2047.1347 + ], + "actual_end_rot": [ + -22.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2380.617, + 6750.8336, + 2047.1347 + ], + "start_rot": [ + -22.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2406.4989, + 6847.4262, + 2047.1347 + ], + "actual_end_pos": [ + -2406.4989, + 6847.4262, + 2047.1347 + ], + "actual_end_rot": [ + -22.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2406.4989, + 6847.4262, + 2047.1347 + ], + "start_rot": [ + -22.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2406.4989, + 6847.4262, + 2047.1347 + ], + "actual_end_pos": [ + -2406.4989, + 6847.4262, + 2047.1347 + ], + "actual_end_rot": [ + -22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2406.4989, + 6847.4262, + 2047.1347 + ], + "start_rot": [ + -22.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2406.4989, + 6847.4262, + 2047.1347 + ], + "actual_end_pos": [ + -2406.4989, + 6847.4262, + 2047.1347 + ], + "actual_end_rot": [ + -22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2406.4989, + 6847.4262, + 2047.1347 + ], + "start_rot": [ + -22.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2406.4989, + 6847.4262, + 2047.1347 + ], + "actual_end_pos": [ + -2406.4989, + 6847.4262, + 2047.1347 + ], + "actual_end_rot": [ + -22.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2406.4989, + 6847.4262, + 2047.1347 + ], + "start_rot": [ + -22.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2380.617, + 6750.8336, + 2047.1347 + ], + "actual_end_pos": [ + -2380.617, + 6750.8336, + 2047.1347 + ], + "actual_end_rot": [ + -22.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2380.617, + 6750.8336, + 2047.1347 + ], + "start_rot": [ + -22.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2380.617, + 6750.8336, + 2047.1347 + ], + "actual_end_pos": [ + -2380.617, + 6750.8336, + 2047.1347 + ], + "actual_end_rot": [ + -22.5, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2380.617, + 6750.8336, + 2047.1347 + ], + "start_rot": [ + -22.5, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -2380.617, + 6750.8336, + 2047.1347 + ], + "actual_end_pos": [ + -2380.617, + 6750.8336, + 2047.1347 + ], + "actual_end_rot": [ + -22.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2380.617, + 6750.8336, + 2047.1347 + ], + "start_rot": [ + -22.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -2380.617, + 6750.8336, + 2047.1347 + ], + "actual_end_pos": [ + -2380.617, + 6750.8336, + 2047.1347 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2380.617, + 6750.8336, + 2047.1347 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2380.617, + 6750.8336, + 2047.1347 + ], + "actual_end_pos": [ + -2380.617, + 6750.8336, + 2047.1347 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2380.617, + 6750.8336, + 2047.1347 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2450.7227, + 6680.7279, + 2060.1874 + ], + "actual_end_pos": [ + -2450.7227, + 6680.7279, + 2060.1874 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2450.7227, + 6680.7279, + 2060.1874 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2520.8285, + 6610.6221, + 2073.24 + ], + "actual_end_pos": [ + -2520.8285, + 6610.6221, + 2073.24 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2520.8285, + 6610.6221, + 2073.24 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2590.9342, + 6540.5164, + 2086.2926 + ], + "actual_end_pos": [ + -2590.9342, + 6540.5164, + 2086.2926 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2590.9342, + 6540.5164, + 2086.2926 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2661.0399, + 6470.4107, + 2099.3452 + ], + "actual_end_pos": [ + -2661.0399, + 6470.4107, + 2099.3452 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2661.0399, + 6470.4107, + 2099.3452 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2731.7506, + 6541.1213, + 2099.3452 + ], + "actual_end_pos": [ + -2731.7506, + 6541.1213, + 2099.3452 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2731.7506, + 6541.1213, + 2099.3452 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2802.4613, + 6611.832, + 2099.3452 + ], + "actual_end_pos": [ + -2802.4613, + 6611.832, + 2099.3452 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2802.4613, + 6611.832, + 2099.3452 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2873.172, + 6682.5427, + 2099.3452 + ], + "actual_end_pos": [ + -2873.172, + 6682.5427, + 2099.3452 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2873.172, + 6682.5427, + 2099.3452 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2873.172, + 6682.5427, + 2099.3452 + ], + "actual_end_pos": [ + -2873.172, + 6682.5427, + 2099.3452 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_001663_meta.json b/loop_easy/run_20260410_184831__traj_001663_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d7eb0980bc21e30557dd3c57ec6180c55a9e02cd --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_001663_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1663, + "episode_id": 0, + "state_id": 1245, + "sample_index": 1245, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2880.0, + 7340.0, + 2150.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_left", + "move_left", + "move_forward", + "turn_left", + "move_left", + "move_forward", + "turn_right", + "move_left", + "move_forward", + "move_left", + "move_forward", + "look_down", + "move_backward", + "turn_left", + "move_forward", + "move_left", + "move_left", + "move_forward", + "look_up", + "turn_left", + "no_op", + "move_forward", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2880.0, + 7340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2950.7107, + 7269.2893, + 2150.0 + ], + "actual_end_pos": [ + -2950.7107, + 7269.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2950.7107, + 7269.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2950.7107, + 7269.2893, + 2150.0 + ], + "actual_end_pos": [ + -2950.7107, + 7269.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2950.7107, + 7269.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3000.7107, + 7355.8919, + 2150.0 + ], + "actual_end_pos": [ + -3000.7107, + 7355.8919, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3000.7107, + 7355.8919, + 2150.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3087.3132, + 7305.8919, + 2150.0 + ], + "actual_end_pos": [ + -3087.3132, + 7305.8919, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3087.3132, + 7305.8919, + 2150.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3087.3132, + 7305.8919, + 2150.0 + ], + "actual_end_pos": [ + -3087.3132, + 7305.8919, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3087.3132, + 7305.8919, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3113.1951, + 7402.4844, + 2150.0 + ], + "actual_end_pos": [ + -3113.1951, + 7402.4844, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3113.1951, + 7402.4844, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3209.7877, + 7376.6025, + 2150.0 + ], + "actual_end_pos": [ + -3209.7877, + 7376.6025, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3209.7877, + 7376.6025, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3209.7877, + 7376.6025, + 2150.0 + ], + "actual_end_pos": [ + -3209.7877, + 7376.6025, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3209.7877, + 7376.6025, + 2150.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3259.7877, + 7463.2051, + 2150.0 + ], + "actual_end_pos": [ + -3259.7877, + 7463.2051, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3259.7877, + 7463.2051, + 2150.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3346.3902, + 7413.2051, + 2150.0 + ], + "actual_end_pos": [ + -3346.3902, + 7413.2051, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3346.3902, + 7413.2051, + 2150.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3396.3902, + 7499.8076, + 2150.0 + ], + "actual_end_pos": [ + -3396.3902, + 7499.8076, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3396.3902, + 7499.8076, + 2150.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3482.9928, + 7449.8076, + 2150.0 + ], + "actual_end_pos": [ + -3482.9928, + 7449.8076, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3482.9928, + 7449.8076, + 2150.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3482.9928, + 7449.8076, + 2150.0 + ], + "actual_end_pos": [ + -3482.9928, + 7449.8076, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3482.9928, + 7449.8076, + 2150.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3397.1311, + 7499.3799, + 2163.0526 + ], + "actual_end_pos": [ + -3397.1311, + 7499.3799, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3397.1311, + 7499.3799, + 2163.0526 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3397.1311, + 7499.3799, + 2163.0526 + ], + "actual_end_pos": [ + -3397.1311, + 7499.3799, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3397.1311, + 7499.3799, + 2163.0526 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3492.8974, + 7473.7194, + 2150.0 + ], + "actual_end_pos": [ + -3492.8974, + 7473.7194, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3492.8974, + 7473.7194, + 2150.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3518.7793, + 7570.312, + 2150.0 + ], + "actual_end_pos": [ + -3518.7793, + 7570.312, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3518.7793, + 7570.312, + 2150.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3544.6612, + 7666.9045, + 2150.0 + ], + "actual_end_pos": [ + -3544.6612, + 7666.9045, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3544.6612, + 7666.9045, + 2150.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3640.4274, + 7641.2441, + 2136.9474 + ], + "actual_end_pos": [ + -3640.4274, + 7641.2441, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3640.4274, + 7641.2441, + 2136.9474 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3640.4274, + 7641.2441, + 2136.9474 + ], + "actual_end_pos": [ + -3640.4274, + 7641.2441, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3640.4274, + 7641.2441, + 2136.9474 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3640.4274, + 7641.2441, + 2136.9474 + ], + "actual_end_pos": [ + -3640.4274, + 7641.2441, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3640.4274, + 7641.2441, + 2136.9474 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3640.4274, + 7641.2441, + 2136.9474 + ], + "actual_end_pos": [ + -3640.4274, + 7641.2441, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3640.4274, + 7641.2441, + 2136.9474 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3740.4274, + 7641.244, + 2136.9474 + ], + "actual_end_pos": [ + -3740.4274, + 7641.244, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3740.4274, + 7641.244, + 2136.9474 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3740.4274, + 7541.244, + 2136.9474 + ], + "actual_end_pos": [ + -3740.4274, + 7541.244, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3740.4274, + 7541.244, + 2136.9474 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -3740.4274, + 7541.244, + 2136.9474 + ], + "actual_end_pos": [ + -3740.4274, + 7541.244, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3740.4274, + 7541.244, + 2136.9474 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3740.4274, + 7541.244, + 2136.9474 + ], + "actual_end_pos": [ + -3740.4274, + 7541.244, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3740.4274, + 7541.244, + 2136.9474 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3740.4274, + 7541.244, + 2136.9474 + ], + "actual_end_pos": [ + -3740.4274, + 7541.244, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3740.4274, + 7541.244, + 2136.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3669.7167, + 7611.9547, + 2136.9474 + ], + "actual_end_pos": [ + -3669.7167, + 7611.9547, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3669.7167, + 7611.9547, + 2136.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3599.006, + 7682.6654, + 2136.9474 + ], + "actual_end_pos": [ + -3599.006, + 7682.6654, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3599.006, + 7682.6654, + 2136.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3528.2954, + 7753.3761, + 2136.9474 + ], + "actual_end_pos": [ + -3528.2954, + 7753.3761, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3528.2954, + 7753.3761, + 2136.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3457.5847, + 7824.0868, + 2136.9474 + ], + "actual_end_pos": [ + -3457.5847, + 7824.0868, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3457.5847, + 7824.0868, + 2136.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3386.874, + 7894.7974, + 2136.9474 + ], + "actual_end_pos": [ + -3386.874, + 7894.7974, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3386.874, + 7894.7974, + 2136.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3316.1633, + 7824.0868, + 2136.9474 + ], + "actual_end_pos": [ + -3316.1633, + 7824.0868, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3316.1633, + 7824.0868, + 2136.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3245.4527, + 7753.3761, + 2136.9474 + ], + "actual_end_pos": [ + -3245.4527, + 7753.3761, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3245.4527, + 7753.3761, + 2136.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3174.742, + 7682.6654, + 2136.9474 + ], + "actual_end_pos": [ + -3174.742, + 7682.6654, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3174.742, + 7682.6654, + 2136.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3104.0313, + 7611.9547, + 2136.9474 + ], + "actual_end_pos": [ + -3104.0313, + 7611.9547, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3104.0313, + 7611.9547, + 2136.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -3033.3206, + 7541.2441, + 2136.9474 + ], + "actual_end_pos": [ + -3033.3206, + 7541.2441, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3033.3206, + 7541.2441, + 2136.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2962.6099, + 7470.5334, + 2136.9474 + ], + "actual_end_pos": [ + -2962.6099, + 7470.5334, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2962.6099, + 7470.5334, + 2136.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2891.8993, + 7399.8227, + 2136.9474 + ], + "actual_end_pos": [ + -2891.8993, + 7399.8227, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2891.8993, + 7399.8227, + 2136.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2821.1886, + 7329.112, + 2136.9474 + ], + "actual_end_pos": [ + -2821.1886, + 7329.112, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_001669_meta.json b/loop_easy/run_20260410_184831__traj_001669_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb51dc71805f100789743c762ee67919bc2002c --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_001669_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1669, + "episode_id": 0, + "state_id": 1251, + "sample_index": 1251, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2880.0, + 7640.0, + 2150.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_forward", + "no_op", + "move_forward", + "turn_right", + "move_left", + "move_left", + "turn_right", + "move_left", + "move_left", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "no_op", + "move_right", + "move_backward", + "no_op", + "turn_left", + "turn_left", + "move_forward", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2880.0, + 7640.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2880.0, + 7640.0, + 2150.0 + ], + "actual_end_pos": [ + -2880.0, + 7640.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2880.0, + 7640.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2966.6025, + 7690.0, + 2150.0 + ], + "actual_end_pos": [ + -2966.6025, + 7690.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2966.6025, + 7690.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2966.6025, + 7690.0, + 2150.0 + ], + "actual_end_pos": [ + -2966.6025, + 7690.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2966.6025, + 7690.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3053.2051, + 7740.0, + 2150.0 + ], + "actual_end_pos": [ + -3053.2051, + 7740.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3053.2051, + 7740.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3053.2051, + 7740.0, + 2150.0 + ], + "actual_end_pos": [ + -3053.2051, + 7740.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3053.2051, + 7740.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3027.3232, + 7836.5926, + 2150.0 + ], + "actual_end_pos": [ + -3027.3232, + 7836.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3027.3232, + 7836.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3001.4413, + 7933.1852, + 2150.0 + ], + "actual_end_pos": [ + -3001.4413, + 7933.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3001.4413, + 7933.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3001.4413, + 7933.1852, + 2150.0 + ], + "actual_end_pos": [ + -3001.4413, + 7933.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3001.4413, + 7933.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3001.4413, + 8033.1852, + 2150.0 + ], + "actual_end_pos": [ + -3001.4413, + 8033.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3001.4413, + 8033.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3001.4413, + 8133.1852, + 2150.0 + ], + "actual_end_pos": [ + -3001.4413, + 8133.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3001.4413, + 8133.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3101.4413, + 8133.1852, + 2150.0 + ], + "actual_end_pos": [ + -3101.4413, + 8133.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3101.4413, + 8133.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3201.4413, + 8133.1852, + 2150.0 + ], + "actual_end_pos": [ + -3201.4413, + 8133.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3201.4413, + 8133.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3201.4413, + 8233.1852, + 2150.0 + ], + "actual_end_pos": [ + -3201.4413, + 8233.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3201.4413, + 8233.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3301.4413, + 8233.1852, + 2150.0 + ], + "actual_end_pos": [ + -3301.4413, + 8233.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3301.4413, + 8233.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3301.4413, + 8233.1852, + 2150.0 + ], + "actual_end_pos": [ + -3301.4413, + 8233.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3301.4413, + 8233.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3301.4413, + 8133.1852, + 2150.0 + ], + "actual_end_pos": [ + -3301.4413, + 8133.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3301.4413, + 8133.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3201.4413, + 8133.1852, + 2150.0 + ], + "actual_end_pos": [ + -3201.4413, + 8133.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3201.4413, + 8133.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3201.4413, + 8133.1852, + 2150.0 + ], + "actual_end_pos": [ + -3201.4413, + 8133.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3201.4413, + 8133.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3201.4413, + 8133.1852, + 2150.0 + ], + "actual_end_pos": [ + -3201.4413, + 8133.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3201.4413, + 8133.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3201.4413, + 8133.1852, + 2150.0 + ], + "actual_end_pos": [ + -3201.4413, + 8133.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3201.4413, + 8133.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3288.0438, + 8183.1852, + 2150.0 + ], + "actual_end_pos": [ + -3288.0438, + 8183.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3288.0438, + 8183.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3288.0438, + 8183.1852, + 2150.0 + ], + "actual_end_pos": [ + -3288.0438, + 8183.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3288.0438, + 8183.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3217.3331, + 8112.4745, + 2150.0 + ], + "actual_end_pos": [ + -3217.3331, + 8112.4745, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3217.3331, + 8112.4745, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3146.6224, + 8041.7638, + 2150.0 + ], + "actual_end_pos": [ + -3146.6224, + 8041.7638, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3146.6224, + 8041.7638, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3075.9118, + 7971.0531, + 2150.0 + ], + "actual_end_pos": [ + -3075.9118, + 7971.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3075.9118, + 7971.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3005.2011, + 7900.3425, + 2150.0 + ], + "actual_end_pos": [ + -3005.2011, + 7900.3425, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3005.2011, + 7900.3425, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2934.4904, + 7829.6318, + 2150.0 + ], + "actual_end_pos": [ + -2934.4904, + 7829.6318, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2934.4904, + 7829.6318, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2863.7797, + 7758.9211, + 2150.0 + ], + "actual_end_pos": [ + -2863.7797, + 7758.9211, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2863.7797, + 7758.9211, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2793.0691, + 7688.2104, + 2150.0 + ], + "actual_end_pos": [ + -2793.0691, + 7688.2104, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2793.0691, + 7688.2104, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_pos": [ + -2863.7797, + 7617.4997, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_001671_meta.json b/loop_easy/run_20260410_184831__traj_001671_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..19c569cd9d2fb6a38c24ec4d3507bd2047d822d6 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_001671_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1671, + "episode_id": 0, + "state_id": 1253, + "sample_index": 1253, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2880.0, + 7640.0, + 2150.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "turn_right", + "move_right", + "move_right", + "turn_right", + "move_left", + "no_op", + "move_backward", + "move_right", + "no_op", + "no_op", + "move_right", + "look_up", + "move_forward", + "look_down", + "move_backward", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2880.0, + 7640.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2809.2893, + 7710.7107, + 2150.0 + ], + "actual_end_pos": [ + -2809.2893, + 7710.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2809.2893, + 7710.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2809.2893, + 7710.7107, + 2150.0 + ], + "actual_end_pos": [ + -2809.2893, + 7710.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2809.2893, + 7710.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2722.6868, + 7660.7107, + 2150.0 + ], + "actual_end_pos": [ + -2722.6868, + 7660.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2722.6868, + 7660.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2636.0842, + 7610.7107, + 2150.0 + ], + "actual_end_pos": [ + -2636.0842, + 7610.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2636.0842, + 7610.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2636.0842, + 7610.7107, + 2150.0 + ], + "actual_end_pos": [ + -2636.0842, + 7610.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2636.0842, + 7610.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2732.6768, + 7636.5926, + 2150.0 + ], + "actual_end_pos": [ + -2732.6768, + 7636.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2732.6768, + 7636.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2732.6768, + 7636.5926, + 2150.0 + ], + "actual_end_pos": [ + -2732.6768, + 7636.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2732.6768, + 7636.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2706.7949, + 7733.1852, + 2150.0 + ], + "actual_end_pos": [ + -2706.7949, + 7733.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2706.7949, + 7733.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2610.2023, + 7707.3033, + 2150.0 + ], + "actual_end_pos": [ + -2610.2023, + 7707.3033, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2610.2023, + 7707.3033, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2610.2023, + 7707.3033, + 2150.0 + ], + "actual_end_pos": [ + -2610.2023, + 7707.3033, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2610.2023, + 7707.3033, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2610.2023, + 7707.3033, + 2150.0 + ], + "actual_end_pos": [ + -2610.2023, + 7707.3033, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2610.2023, + 7707.3033, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2513.6098, + 7681.4214, + 2150.0 + ], + "actual_end_pos": [ + -2513.6098, + 7681.4214, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2513.6098, + 7681.4214, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2513.6098, + 7681.4214, + 2150.0 + ], + "actual_end_pos": [ + -2513.6098, + 7681.4214, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2513.6098, + 7681.4214, + 2150.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2539.2702, + 7585.6551, + 2163.0526 + ], + "actual_end_pos": [ + -2539.2702, + 7585.6551, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2539.2702, + 7585.6551, + 2163.0526 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2539.2702, + 7585.6551, + 2163.0526 + ], + "actual_end_pos": [ + -2539.2702, + 7585.6551, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2539.2702, + 7585.6551, + 2163.0526 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2513.3883, + 7682.2477, + 2163.0526 + ], + "actual_end_pos": [ + -2513.3883, + 7682.2477, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2513.3883, + 7682.2477, + 2163.0526 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2609.9809, + 7708.1296, + 2163.0526 + ], + "actual_end_pos": [ + -2609.9809, + 7708.1296, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2609.9809, + 7708.1296, + 2163.0526 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2706.5735, + 7734.0115, + 2163.0526 + ], + "actual_end_pos": [ + -2706.5735, + 7734.0115, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2706.5735, + 7734.0115, + 2163.0526 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2706.5735, + 7734.0115, + 2163.0526 + ], + "actual_end_pos": [ + -2706.5735, + 7734.0115, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2706.5735, + 7734.0115, + 2163.0526 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2706.5735, + 7734.0115, + 2163.0526 + ], + "actual_end_pos": [ + -2706.5735, + 7734.0115, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2706.5735, + 7734.0115, + 2163.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2777.2842, + 7663.3009, + 2163.0526 + ], + "actual_end_pos": [ + -2777.2842, + 7663.3009, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2777.2842, + 7663.3009, + 2163.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2847.9949, + 7592.5902, + 2163.0526 + ], + "actual_end_pos": [ + -2847.9949, + 7592.5902, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2847.9949, + 7592.5902, + 2163.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_pos": [ + -2918.7055, + 7663.3008, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_001871_meta.json b/loop_easy/run_20260410_184831__traj_001871_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99a29b1286ad6410e367e3686e112b4f26328b6c --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_001871_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1871, + "episode_id": 0, + "state_id": 1401, + "sample_index": 1401, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2580.0, + 6740.0, + 2150.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_right", + "move_right", + "move_forward", + "move_left", + "move_left", + "move_forward", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2580.0, + 6740.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2580.0, + 6740.0, + 2150.0 + ], + "actual_end_pos": [ + -2580.0, + 6740.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2580.0, + 6740.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2666.6025, + 6790.0, + 2150.0 + ], + "actual_end_pos": [ + -2666.6025, + 6790.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2666.6025, + 6790.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2753.2051, + 6840.0, + 2150.0 + ], + "actual_end_pos": [ + -2753.2051, + 6840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2753.2051, + 6840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2703.2051, + 6926.6025, + 2150.0 + ], + "actual_end_pos": [ + -2703.2051, + 6926.6025, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2703.2051, + 6926.6025, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2616.6025, + 6876.6025, + 2150.0 + ], + "actual_end_pos": [ + -2616.6025, + 6876.6025, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2616.6025, + 6876.6025, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2530.0, + 6826.6025, + 2150.0 + ], + "actual_end_pos": [ + -2530.0, + 6826.6025, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2530.0, + 6826.6025, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2480.0, + 6913.2051, + 2150.0 + ], + "actual_end_pos": [ + -2480.0, + 6913.2051, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2480.0, + 6913.2051, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2566.6025, + 6963.2051, + 2150.0 + ], + "actual_end_pos": [ + -2566.6025, + 6963.2051, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2566.6025, + 6963.2051, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2653.2051, + 7013.2051, + 2150.0 + ], + "actual_end_pos": [ + -2653.2051, + 7013.2051, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2653.2051, + 7013.2051, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2653.2051, + 7013.2051, + 2150.0 + ], + "actual_end_pos": [ + -2653.2051, + 7013.2051, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2653.2051, + 7013.2051, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2653.2051, + 7013.2051, + 2150.0 + ], + "actual_end_pos": [ + -2653.2051, + 7013.2051, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2653.2051, + 7013.2051, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2653.2051, + 7013.2051, + 2150.0 + ], + "actual_end_pos": [ + -2653.2051, + 7013.2051, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2653.2051, + 7013.2051, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2627.3232, + 6916.6125, + 2150.0 + ], + "actual_end_pos": [ + -2627.3232, + 6916.6125, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2627.3232, + 6916.6125, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2627.3232, + 6916.6125, + 2150.0 + ], + "actual_end_pos": [ + -2627.3232, + 6916.6125, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2627.3232, + 6916.6125, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2713.9257, + 6866.6125, + 2150.0 + ], + "actual_end_pos": [ + -2713.9257, + 6866.6125, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2713.9257, + 6866.6125, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2800.5283, + 6816.6125, + 2150.0 + ], + "actual_end_pos": [ + -2800.5283, + 6816.6125, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2800.5283, + 6816.6125, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2887.1308, + 6766.6125, + 2150.0 + ], + "actual_end_pos": [ + -2887.1308, + 6766.6125, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2887.1308, + 6766.6125, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2973.7333, + 6716.6125, + 2150.0 + ], + "actual_end_pos": [ + -2973.7333, + 6716.6125, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2973.7333, + 6716.6125, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2973.7333, + 6716.6125, + 2150.0 + ], + "actual_end_pos": [ + -2973.7333, + 6716.6125, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2973.7333, + 6716.6125, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2903.0227, + 6645.9018, + 2150.0 + ], + "actual_end_pos": [ + -2903.0227, + 6645.9018, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2903.0227, + 6645.9018, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2903.0227, + 6645.9018, + 2150.0 + ], + "actual_end_pos": [ + -2903.0227, + 6645.9018, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2903.0227, + 6645.9018, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2903.0227, + 6645.9018, + 2150.0 + ], + "actual_end_pos": [ + -2903.0227, + 6645.9018, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2903.0227, + 6645.9018, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2903.0227, + 6645.9018, + 2150.0 + ], + "actual_end_pos": [ + -2903.0227, + 6645.9018, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2903.0227, + 6645.9018, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2903.0227, + 6645.9018, + 2150.0 + ], + "actual_end_pos": [ + -2903.0227, + 6645.9018, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2903.0227, + 6645.9018, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2903.0227, + 6645.9018, + 2150.0 + ], + "actual_end_pos": [ + -2903.0227, + 6645.9018, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2903.0227, + 6645.9018, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2903.0227, + 6645.9018, + 2150.0 + ], + "actual_end_pos": [ + -2903.0227, + 6645.9018, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2903.0227, + 6645.9018, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2832.312, + 6716.6125, + 2150.0 + ], + "actual_end_pos": [ + -2832.312, + 6716.6125, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2832.312, + 6716.6125, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2761.6013, + 6787.3232, + 2150.0 + ], + "actual_end_pos": [ + -2761.6013, + 6787.3232, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2761.6013, + 6787.3232, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2690.8906, + 6858.0339, + 2150.0 + ], + "actual_end_pos": [ + -2690.8906, + 6858.0339, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2690.8906, + 6858.0339, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2620.1799, + 6787.3232, + 2150.0 + ], + "actual_end_pos": [ + -2620.1799, + 6787.3232, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2620.1799, + 6787.3232, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "actual_end_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "actual_end_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "actual_end_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "actual_end_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "actual_end_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "actual_end_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "actual_end_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "actual_end_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "actual_end_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "actual_end_pos": [ + -2549.4693, + 6716.6125, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_001997_meta.json b/loop_easy/run_20260410_184831__traj_001997_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..38ee765517c63907057a060f592f2b3dc71db511 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_001997_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1997, + "episode_id": 0, + "state_id": 1498, + "sample_index": 1498, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2580.0, + 10340.0, + 2150.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_left", + "no_op", + "move_backward", + "look_up", + "move_left", + "move_left", + "turn_right", + "move_right", + "turn_left", + "move_left", + "no_op", + "move_right", + "look_down", + "turn_right", + "move_right", + "turn_left", + "turn_left", + "move_forward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2580.0, + 10340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2580.0, + 10340.0, + 2150.0 + ], + "actual_end_pos": [ + -2580.0, + 10340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2580.0, + 10340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2483.4074, + 10365.8819, + 2150.0 + ], + "actual_end_pos": [ + -2483.4074, + 10365.8819, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2483.4074, + 10365.8819, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2483.4074, + 10365.8819, + 2150.0 + ], + "actual_end_pos": [ + -2483.4074, + 10365.8819, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2483.4074, + 10365.8819, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2457.5255, + 10269.2893, + 2150.0 + ], + "actual_end_pos": [ + -2457.5255, + 10269.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2457.5255, + 10269.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2457.5255, + 10269.2893, + 2150.0 + ], + "actual_end_pos": [ + -2457.5255, + 10269.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2457.5255, + 10269.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2360.9329, + 10295.1712, + 2150.0 + ], + "actual_end_pos": [ + -2360.9329, + 10295.1712, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2360.9329, + 10295.1712, + 2150.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2264.3403, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2264.3403, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2264.3403, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2264.3403, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2264.3403, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2264.3403, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2350.9429, + 10271.0531, + 2150.0 + ], + "actual_end_pos": [ + -2350.9429, + 10271.0531, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2350.9429, + 10271.0531, + 2150.0 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2350.9429, + 10271.0531, + 2150.0 + ], + "actual_end_pos": [ + -2350.9429, + 10271.0531, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2350.9429, + 10271.0531, + 2150.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2254.3503, + 10296.935, + 2150.0 + ], + "actual_end_pos": [ + -2254.3503, + 10296.935, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2254.3503, + 10296.935, + 2150.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2254.3503, + 10296.935, + 2150.0 + ], + "actual_end_pos": [ + -2254.3503, + 10296.935, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2254.3503, + 10296.935, + 2150.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2350.9429, + 10271.0531, + 2150.0 + ], + "actual_end_pos": [ + -2350.9429, + 10271.0531, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2350.9429, + 10271.0531, + 2150.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2350.9429, + 10271.0531, + 2150.0 + ], + "actual_end_pos": [ + -2350.9429, + 10271.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2350.9429, + 10271.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2350.9429, + 10271.0531, + 2150.0 + ], + "actual_end_pos": [ + -2350.9429, + 10271.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2350.9429, + 10271.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2437.5454, + 10221.0531, + 2150.0 + ], + "actual_end_pos": [ + -2437.5454, + 10221.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2437.5454, + 10221.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2437.5454, + 10221.0531, + 2150.0 + ], + "actual_end_pos": [ + -2437.5454, + 10221.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2437.5454, + 10221.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2437.5454, + 10221.0531, + 2150.0 + ], + "actual_end_pos": [ + -2437.5454, + 10221.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2437.5454, + 10221.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2437.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2437.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2437.5454, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_pos": [ + -2537.5454, + 10321.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_002227_meta.json b/loop_easy/run_20260410_184831__traj_002227_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b46e724a0fc6abbe87fb8dc1dfe827da6df0ffaa --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_002227_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2227, + "episode_id": 0, + "state_id": 1666, + "sample_index": 1666, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2280.0, + 10040.0, + 2150.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "turn_right", + "move_forward", + "move_right", + "move_forward", + "move_right", + "move_right", + "no_op", + "move_left", + "move_left", + "look_down", + "look_down", + "look_down", + "move_left", + "look_up", + "move_left", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_left", + "no_op", + "turn_right", + "look_up", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2280.0, + 10040.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2280.0, + 10040.0, + 2150.0 + ], + "actual_end_pos": [ + -2280.0, + 10040.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2280.0, + 10040.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2280.0, + 10040.0, + 2150.0 + ], + "actual_end_pos": [ + -2280.0, + 10040.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2280.0, + 10040.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2330.0, + 10126.6025, + 2150.0 + ], + "actual_end_pos": [ + -2330.0, + 10126.6025, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2330.0, + 10126.6025, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2416.6025, + 10076.6025, + 2150.0 + ], + "actual_end_pos": [ + -2416.6025, + 10076.6025, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2416.6025, + 10076.6025, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2466.6025, + 10163.2051, + 2150.0 + ], + "actual_end_pos": [ + -2466.6025, + 10163.2051, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2466.6025, + 10163.2051, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2553.2051, + 10113.2051, + 2150.0 + ], + "actual_end_pos": [ + -2553.2051, + 10113.2051, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2553.2051, + 10113.2051, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2639.8076, + 10063.2051, + 2150.0 + ], + "actual_end_pos": [ + -2639.8076, + 10063.2051, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2639.8076, + 10063.2051, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2639.8076, + 10063.2051, + 2150.0 + ], + "actual_end_pos": [ + -2639.8076, + 10063.2051, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2639.8076, + 10063.2051, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2553.2051, + 10113.2051, + 2150.0 + ], + "actual_end_pos": [ + -2553.2051, + 10113.2051, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2553.2051, + 10113.2051, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2466.6025, + 10163.2051, + 2150.0 + ], + "actual_end_pos": [ + -2466.6025, + 10163.2051, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2466.6025, + 10163.2051, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2466.6025, + 10163.2051, + 2150.0 + ], + "actual_end_pos": [ + -2466.6025, + 10163.2051, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2466.6025, + 10163.2051, + 2150.0 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2466.6025, + 10163.2051, + 2150.0 + ], + "actual_end_pos": [ + -2466.6025, + 10163.2051, + 2150.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2466.6025, + 10163.2051, + 2150.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2466.6025, + 10163.2051, + 2150.0 + ], + "actual_end_pos": [ + -2466.6025, + 10163.2051, + 2150.0 + ], + "actual_end_rot": [ + -22.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2466.6025, + 10163.2051, + 2150.0 + ], + "start_rot": [ + -22.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2380.0, + 10213.2051, + 2150.0 + ], + "actual_end_pos": [ + -2380.0, + 10213.2051, + 2150.0 + ], + "actual_end_rot": [ + -22.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2380.0, + 10213.2051, + 2150.0 + ], + "start_rot": [ + -22.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2380.0, + 10213.2051, + 2150.0 + ], + "actual_end_pos": [ + -2380.0, + 10213.2051, + 2150.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2380.0, + 10213.2051, + 2150.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2293.3975, + 10263.2051, + 2150.0 + ], + "actual_end_pos": [ + -2293.3975, + 10263.2051, + 2150.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2293.3975, + 10263.2051, + 2150.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2341.6937, + 10346.8567, + 2124.1181 + ], + "actual_end_pos": [ + -2341.6937, + 10346.8567, + 2124.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2341.6937, + 10346.8567, + 2124.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2341.6937, + 10346.8567, + 2124.1181 + ], + "actual_end_pos": [ + -2341.6937, + 10346.8567, + 2124.1181 + ], + "actual_end_rot": [ + -15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2341.6937, + 10346.8567, + 2124.1181 + ], + "start_rot": [ + -15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2341.6937, + 10346.8567, + 2124.1181 + ], + "actual_end_pos": [ + -2341.6937, + 10346.8567, + 2124.1181 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2341.6937, + 10346.8567, + 2124.1181 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2341.6937, + 10346.8567, + 2124.1181 + ], + "actual_end_pos": [ + -2341.6937, + 10346.8567, + 2124.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2341.6937, + 10346.8567, + 2124.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2366.6937, + 10253.5554, + 2150.0 + ], + "actual_end_pos": [ + -2366.6937, + 10253.5554, + 2150.0 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2366.6937, + 10253.5554, + 2150.0 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2270.1012, + 10227.6735, + 2150.0 + ], + "actual_end_pos": [ + -2270.1012, + 10227.6735, + 2150.0 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2270.1012, + 10227.6735, + 2150.0 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2270.1012, + 10227.6735, + 2150.0 + ], + "actual_end_pos": [ + -2270.1012, + 10227.6735, + 2150.0 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2270.1012, + 10227.6735, + 2150.0 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2270.1012, + 10227.6735, + 2150.0 + ], + "actual_end_pos": [ + -2270.1012, + 10227.6735, + 2150.0 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2270.1012, + 10227.6735, + 2150.0 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.1012, + 10227.6735, + 2150.0 + ], + "actual_end_pos": [ + -2270.1012, + 10227.6735, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2270.1012, + 10227.6735, + 2150.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.1012, + 10128.5291, + 2163.0526 + ], + "actual_end_pos": [ + -2270.1012, + 10128.5291, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2270.1012, + 10128.5291, + 2163.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_pos": [ + -2270.1012, + 10029.3846, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_002519_meta.json b/loop_easy/run_20260410_184831__traj_002519_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..034690bfe5f053bfc41d4726e0b438c50a3c4cbb --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_002519_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2519, + "episode_id": 0, + "state_id": 1889, + "sample_index": 1889, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1980.0, + 15740.0, + 2150.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_right", + "move_forward", + "move_right", + "turn_right", + "move_right", + "move_right", + "move_forward", + "turn_left", + "turn_left", + "move_right", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1980.0, + 15740.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1909.2893, + 15810.7107, + 2150.0 + ], + "actual_end_pos": [ + -1909.2893, + 15810.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1909.2893, + 15810.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1838.5786, + 15881.4214, + 2150.0 + ], + "actual_end_pos": [ + -1838.5786, + 15881.4214, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1838.5786, + 15881.4214, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1909.2893, + 15952.132, + 2150.0 + ], + "actual_end_pos": [ + -1909.2893, + 15952.132, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1909.2893, + 15952.132, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1838.5786, + 16022.8427, + 2150.0 + ], + "actual_end_pos": [ + -1838.5786, + 16022.8427, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1838.5786, + 16022.8427, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1909.2893, + 16093.5534, + 2150.0 + ], + "actual_end_pos": [ + -1909.2893, + 16093.5534, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1909.2893, + 16093.5534, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1909.2893, + 16093.5534, + 2150.0 + ], + "actual_end_pos": [ + -1909.2893, + 16093.5534, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1909.2893, + 16093.5534, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1995.8919, + 16143.5534, + 2150.0 + ], + "actual_end_pos": [ + -1995.8919, + 16143.5534, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1995.8919, + 16143.5534, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2082.4944, + 16193.5534, + 2150.0 + ], + "actual_end_pos": [ + -2082.4944, + 16193.5534, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2082.4944, + 16193.5534, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2032.4944, + 16280.1559, + 2150.0 + ], + "actual_end_pos": [ + -2032.4944, + 16280.1559, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2032.4944, + 16280.1559, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2032.4944, + 16280.1559, + 2150.0 + ], + "actual_end_pos": [ + -2032.4944, + 16280.1559, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2032.4944, + 16280.1559, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2032.4944, + 16280.1559, + 2150.0 + ], + "actual_end_pos": [ + -2032.4944, + 16280.1559, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2032.4944, + 16280.1559, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2082.4944, + 16366.7585, + 2150.0 + ], + "actual_end_pos": [ + -2082.4944, + 16366.7585, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2082.4944, + 16366.7585, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2082.4944, + 16366.7585, + 2150.0 + ], + "actual_end_pos": [ + -2082.4944, + 16366.7585, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2082.4944, + 16366.7585, + 2150.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2082.4944, + 16366.7585, + 2150.0 + ], + "actual_end_pos": [ + -2082.4944, + 16366.7585, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2082.4944, + 16366.7585, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1982.4944, + 16366.7585, + 2150.0 + ], + "actual_end_pos": [ + -1982.4944, + 16366.7585, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1982.4944, + 16366.7585, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1882.4944, + 16366.7585, + 2150.0 + ], + "actual_end_pos": [ + -1882.4944, + 16366.7585, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1882.4944, + 16366.7585, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1782.4944, + 16366.7585, + 2150.0 + ], + "actual_end_pos": [ + -1782.4944, + 16366.7585, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1782.4944, + 16366.7585, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1682.4944, + 16366.7585, + 2150.0 + ], + "actual_end_pos": [ + -1682.4944, + 16366.7585, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1682.4944, + 16366.7585, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1682.4944, + 16366.7585, + 2150.0 + ], + "actual_end_pos": [ + -1682.4944, + 16366.7585, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1682.4944, + 16366.7585, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1682.4944, + 16366.7585, + 2150.0 + ], + "actual_end_pos": [ + -1682.4944, + 16366.7585, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1682.4944, + 16366.7585, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1585.9018, + 16340.8766, + 2150.0 + ], + "actual_end_pos": [ + -1585.9018, + 16340.8766, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1585.9018, + 16340.8766, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1489.3092, + 16314.9947, + 2150.0 + ], + "actual_end_pos": [ + -1489.3092, + 16314.9947, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1489.3092, + 16314.9947, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1392.7167, + 16289.1128, + 2150.0 + ], + "actual_end_pos": [ + -1392.7167, + 16289.1128, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1392.7167, + 16289.1128, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1296.1241, + 16263.2309, + 2150.0 + ], + "actual_end_pos": [ + -1296.1241, + 16263.2309, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1296.1241, + 16263.2309, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1296.1241, + 16263.2309, + 2150.0 + ], + "actual_end_pos": [ + -1296.1241, + 16263.2309, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1296.1241, + 16263.2309, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1296.1241, + 16263.2309, + 2150.0 + ], + "actual_end_pos": [ + -1296.1241, + 16263.2309, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1296.1241, + 16263.2309, + 2150.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1296.1241, + 16263.2309, + 2150.0 + ], + "actual_end_pos": [ + -1296.1241, + 16263.2309, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1296.1241, + 16263.2309, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1296.1241, + 16263.2309, + 2150.0 + ], + "actual_end_pos": [ + -1296.1241, + 16263.2309, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1296.1241, + 16263.2309, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1366.8347, + 16192.5202, + 2150.0 + ], + "actual_end_pos": [ + -1366.8347, + 16192.5202, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1366.8347, + 16192.5202, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1437.5454, + 16121.8095, + 2150.0 + ], + "actual_end_pos": [ + -1437.5454, + 16121.8095, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1437.5454, + 16121.8095, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1508.2561, + 16051.0988, + 2150.0 + ], + "actual_end_pos": [ + -1508.2561, + 16051.0988, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1508.2561, + 16051.0988, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1578.9668, + 15980.3881, + 2150.0 + ], + "actual_end_pos": [ + -1578.9668, + 15980.3881, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1578.9668, + 15980.3881, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1649.6775, + 15909.6775, + 2150.0 + ], + "actual_end_pos": [ + -1649.6775, + 15909.6775, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1649.6775, + 15909.6775, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1720.3881, + 15838.9668, + 2150.0 + ], + "actual_end_pos": [ + -1720.3881, + 15838.9668, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1720.3881, + 15838.9668, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1791.0988, + 15768.2561, + 2150.0 + ], + "actual_end_pos": [ + -1791.0988, + 15768.2561, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1791.0988, + 15768.2561, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1861.8095, + 15697.5454, + 2150.0 + ], + "actual_end_pos": [ + -1861.8095, + 15697.5454, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1861.8095, + 15697.5454, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1932.5202, + 15626.8348, + 2150.0 + ], + "actual_end_pos": [ + -1932.5202, + 15626.8348, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1932.5202, + 15626.8348, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2003.2309, + 15697.5454, + 2150.0 + ], + "actual_end_pos": [ + -2003.2309, + 15697.5454, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2003.2309, + 15697.5454, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2003.2309, + 15697.5454, + 2150.0 + ], + "actual_end_pos": [ + -2003.2309, + 15697.5454, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2003.2309, + 15697.5454, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2003.2309, + 15697.5454, + 2150.0 + ], + "actual_end_pos": [ + -2003.2309, + 15697.5454, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_002528_meta.json b/loop_easy/run_20260410_184831__traj_002528_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2d6efd27a1a9b7bd613f9c2f93b6d57f6fbc1fe7 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_002528_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2528, + "episode_id": 0, + "state_id": 1895, + "sample_index": 1895, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1980.0, + 15740.0, + 2150.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "turn_left", + "move_right", + "turn_right", + "no_op", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1980.0, + 15740.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1909.2893, + 15810.7107, + 2150.0 + ], + "actual_end_pos": [ + -1909.2893, + 15810.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1909.2893, + 15810.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1838.5786, + 15881.4214, + 2150.0 + ], + "actual_end_pos": [ + -1838.5786, + 15881.4214, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1838.5786, + 15881.4214, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1767.868, + 15952.132, + 2150.0 + ], + "actual_end_pos": [ + -1767.868, + 15952.132, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1767.868, + 15952.132, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1697.1573, + 16022.8427, + 2150.0 + ], + "actual_end_pos": [ + -1697.1573, + 16022.8427, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1697.1573, + 16022.8427, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1626.4466, + 16093.5534, + 2150.0 + ], + "actual_end_pos": [ + -1626.4466, + 16093.5534, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1626.4466, + 16093.5534, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1626.4466, + 16093.5534, + 2150.0 + ], + "actual_end_pos": [ + -1626.4466, + 16093.5534, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1626.4466, + 16093.5534, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1626.4466, + 16093.5534, + 2150.0 + ], + "actual_end_pos": [ + -1626.4466, + 16093.5534, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1626.4466, + 16093.5534, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1626.4466, + 16093.5534, + 2150.0 + ], + "actual_end_pos": [ + -1626.4466, + 16093.5534, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1626.4466, + 16093.5534, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1526.4466, + 16093.5534, + 2150.0 + ], + "actual_end_pos": [ + -1526.4466, + 16093.5534, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1526.4466, + 16093.5534, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1426.4466, + 16093.5534, + 2150.0 + ], + "actual_end_pos": [ + -1426.4466, + 16093.5534, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1426.4466, + 16093.5534, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1326.4466, + 16093.5534, + 2150.0 + ], + "actual_end_pos": [ + -1326.4466, + 16093.5534, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1326.4466, + 16093.5534, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1226.4466, + 16093.5534, + 2150.0 + ], + "actual_end_pos": [ + -1226.4466, + 16093.5534, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1226.4466, + 16093.5534, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1226.4466, + 16193.5534, + 2150.0 + ], + "actual_end_pos": [ + -1226.4466, + 16193.5534, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1226.4466, + 16193.5534, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1226.4466, + 16193.5534, + 2150.0 + ], + "actual_end_pos": [ + -1226.4466, + 16193.5534, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1226.4466, + 16193.5534, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1200.5647, + 16290.146, + 2150.0 + ], + "actual_end_pos": [ + -1200.5647, + 16290.146, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1200.5647, + 16290.146, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1200.5647, + 16290.146, + 2150.0 + ], + "actual_end_pos": [ + -1200.5647, + 16290.146, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1200.5647, + 16290.146, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1200.5647, + 16290.146, + 2150.0 + ], + "actual_end_pos": [ + -1200.5647, + 16290.146, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1200.5647, + 16290.146, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1200.5647, + 16290.146, + 2150.0 + ], + "actual_end_pos": [ + -1200.5647, + 16290.146, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1200.5647, + 16290.146, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1200.5647, + 16290.146, + 2150.0 + ], + "actual_end_pos": [ + -1200.5647, + 16290.146, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1200.5647, + 16290.146, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1200.5647, + 16290.146, + 2150.0 + ], + "actual_end_pos": [ + -1200.5647, + 16290.146, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1200.5647, + 16290.146, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1271.2754, + 16360.8567, + 2150.0 + ], + "actual_end_pos": [ + -1271.2754, + 16360.8567, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1271.2754, + 16360.8567, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1341.9861, + 16431.5673, + 2150.0 + ], + "actual_end_pos": [ + -1341.9861, + 16431.5673, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1341.9861, + 16431.5673, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1412.6967, + 16360.8567, + 2150.0 + ], + "actual_end_pos": [ + -1412.6967, + 16360.8567, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1412.6967, + 16360.8567, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1483.4074, + 16290.146, + 2150.0 + ], + "actual_end_pos": [ + -1483.4074, + 16290.146, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1483.4074, + 16290.146, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1554.1181, + 16219.4353, + 2150.0 + ], + "actual_end_pos": [ + -1554.1181, + 16219.4353, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1554.1181, + 16219.4353, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1624.8288, + 16148.7246, + 2150.0 + ], + "actual_end_pos": [ + -1624.8288, + 16148.7246, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1624.8288, + 16148.7246, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1695.5395, + 16078.0139, + 2150.0 + ], + "actual_end_pos": [ + -1695.5395, + 16078.0139, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1695.5395, + 16078.0139, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1766.2501, + 16007.3033, + 2150.0 + ], + "actual_end_pos": [ + -1766.2501, + 16007.3033, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1766.2501, + 16007.3033, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1836.9608, + 15936.5926, + 2150.0 + ], + "actual_end_pos": [ + -1836.9608, + 15936.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1836.9608, + 15936.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1907.6715, + 15865.8819, + 2150.0 + ], + "actual_end_pos": [ + -1907.6715, + 15865.8819, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1907.6715, + 15865.8819, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "actual_end_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "actual_end_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "actual_end_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "actual_end_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "actual_end_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "actual_end_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "actual_end_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "actual_end_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "actual_end_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "actual_end_pos": [ + -1978.3822, + 15795.1712, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_002789_meta.json b/loop_easy/run_20260410_184831__traj_002789_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6b3cea276172e0ff02b7a4cba9cd144e4fc254f2 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_002789_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2789, + "episode_id": 0, + "state_id": 2098, + "sample_index": 2098, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1380.0, + 7340.0, + 2150.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "turn_left", + "no_op", + "move_forward", + "turn_left", + "turn_left", + "move_forward", + "turn_right", + "move_forward", + "move_right", + "turn_left", + "move_right", + "look_up", + "turn_right", + "turn_right", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1380.0, + 7340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1380.0, + 7240.0, + 2150.0 + ], + "actual_end_pos": [ + -1380.0, + 7240.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1380.0, + 7240.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1380.0, + 7140.0, + 2150.0 + ], + "actual_end_pos": [ + -1380.0, + 7140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1380.0, + 7140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1280.0, + 7140.0, + 2150.0 + ], + "actual_end_pos": [ + -1280.0, + 7140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1280.0, + 7140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1280.0, + 7140.0, + 2150.0 + ], + "actual_end_pos": [ + -1280.0, + 7140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1280.0, + 7140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1280.0, + 7140.0, + 2150.0 + ], + "actual_end_pos": [ + -1280.0, + 7140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1280.0, + 7140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1280.0, + 7140.0, + 2150.0 + ], + "actual_end_pos": [ + -1280.0, + 7140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1280.0, + 7140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1209.2893, + 7210.7107, + 2150.0 + ], + "actual_end_pos": [ + -1209.2893, + 7210.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1209.2893, + 7210.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1280.0, + 7281.4214, + 2150.0 + ], + "actual_end_pos": [ + -1280.0, + 7281.4214, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1280.0, + 7281.4214, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1350.7107, + 7352.132, + 2150.0 + ], + "actual_end_pos": [ + -1350.7107, + 7352.132, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1350.7107, + 7352.132, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1280.0, + 7422.8427, + 2150.0 + ], + "actual_end_pos": [ + -1280.0, + 7422.8427, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1280.0, + 7422.8427, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1350.7107, + 7493.5534, + 2150.0 + ], + "actual_end_pos": [ + -1350.7107, + 7493.5534, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1350.7107, + 7493.5534, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1350.7107, + 7493.5534, + 2150.0 + ], + "actual_end_pos": [ + -1350.7107, + 7493.5534, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1350.7107, + 7493.5534, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1350.7107, + 7493.5534, + 2150.0 + ], + "actual_end_pos": [ + -1350.7107, + 7493.5534, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1350.7107, + 7493.5534, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1254.1181, + 7519.4353, + 2150.0 + ], + "actual_end_pos": [ + -1254.1181, + 7519.4353, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1254.1181, + 7519.4353, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1157.5255, + 7545.3172, + 2150.0 + ], + "actual_end_pos": [ + -1157.5255, + 7545.3172, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1157.5255, + 7545.3172, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1060.9329, + 7571.1991, + 2150.0 + ], + "actual_end_pos": [ + -1060.9329, + 7571.1991, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1060.9329, + 7571.1991, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1060.9329, + 7571.1991, + 2150.0 + ], + "actual_end_pos": [ + -1060.9329, + 7571.1991, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1060.9329, + 7571.1991, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1060.9329, + 7571.1991, + 2150.0 + ], + "actual_end_pos": [ + -1060.9329, + 7571.1991, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1060.9329, + 7571.1991, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1060.9329, + 7671.1991, + 2150.0 + ], + "actual_end_pos": [ + -1060.9329, + 7671.1991, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1060.9329, + 7671.1991, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1060.9329, + 7671.1991, + 2150.0 + ], + "actual_end_pos": [ + -1060.9329, + 7671.1991, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1060.9329, + 7671.1991, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1060.9329, + 7671.1991, + 2150.0 + ], + "actual_end_pos": [ + -1060.9329, + 7671.1991, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1060.9329, + 7671.1991, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1010.9329, + 7757.8016, + 2150.0 + ], + "actual_end_pos": [ + -1010.9329, + 7757.8016, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1010.9329, + 7757.8016, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1010.9329, + 7757.8016, + 2150.0 + ], + "actual_end_pos": [ + -1010.9329, + 7757.8016, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1010.9329, + 7757.8016, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -985.051, + 7854.3942, + 2150.0 + ], + "actual_end_pos": [ + -985.051, + 7854.3942, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -985.051, + 7854.3942, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1081.6436, + 7880.2761, + 2150.0 + ], + "actual_end_pos": [ + -1081.6436, + 7880.2761, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1081.6436, + 7880.2761, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1081.6436, + 7880.2761, + 2150.0 + ], + "actual_end_pos": [ + -1081.6436, + 7880.2761, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1081.6436, + 7880.2761, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1168.2461, + 7930.2761, + 2150.0 + ], + "actual_end_pos": [ + -1168.2461, + 7930.2761, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1168.2461, + 7930.2761, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1168.2461, + 7930.2761, + 2150.0 + ], + "actual_end_pos": [ + -1168.2461, + 7930.2761, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1168.2461, + 7930.2761, + 2150.0 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1168.2461, + 7930.2761, + 2150.0 + ], + "actual_end_pos": [ + -1168.2461, + 7930.2761, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1168.2461, + 7930.2761, + 2150.0 + ], + "start_rot": [ + 7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1168.2461, + 7930.2761, + 2150.0 + ], + "actual_end_pos": [ + -1168.2461, + 7930.2761, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1168.2461, + 7930.2761, + 2150.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1168.2461, + 7930.2761, + 2150.0 + ], + "actual_end_pos": [ + -1168.2461, + 7930.2761, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1168.2461, + 7930.2761, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1168.2461, + 7830.2761, + 2150.0 + ], + "actual_end_pos": [ + -1168.2461, + 7830.2761, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1168.2461, + 7830.2761, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1168.2461, + 7730.2761, + 2150.0 + ], + "actual_end_pos": [ + -1168.2461, + 7730.2761, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1168.2461, + 7730.2761, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1168.2461, + 7630.2761, + 2150.0 + ], + "actual_end_pos": [ + -1168.2461, + 7630.2761, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1168.2461, + 7630.2761, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1168.2461, + 7530.2761, + 2150.0 + ], + "actual_end_pos": [ + -1168.2461, + 7530.2761, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1168.2461, + 7530.2761, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1168.2461, + 7430.2761, + 2150.0 + ], + "actual_end_pos": [ + -1168.2461, + 7430.2761, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1168.2461, + 7430.2761, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1168.2461, + 7330.2761, + 2150.0 + ], + "actual_end_pos": [ + -1168.2461, + 7330.2761, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1168.2461, + 7330.2761, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1268.2461, + 7330.2761, + 2150.0 + ], + "actual_end_pos": [ + -1268.2461, + 7330.2761, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1268.2461, + 7330.2761, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1368.2461, + 7330.2761, + 2150.0 + ], + "actual_end_pos": [ + -1368.2461, + 7330.2761, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1368.2461, + 7330.2761, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1368.2461, + 7330.2761, + 2150.0 + ], + "actual_end_pos": [ + -1368.2461, + 7330.2761, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_002888_meta.json b/loop_easy/run_20260410_184831__traj_002888_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..74c6eeb757f537f4b9e6e0e1aa7f8c25b09a1382 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_002888_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2888, + "episode_id": 0, + "state_id": 2170, + "sample_index": 2170, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1380.0, + 10040.0, + 2150.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "look_up", + "look_down", + "move_right", + "move_forward", + "turn_left", + "move_backward", + "move_right", + "move_forward", + "look_down", + "turn_left", + "look_up", + "move_backward", + "turn_left", + "no_op", + "move_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "look_down", + "move_forward", + "move_left", + "move_left", + "move_backward", + "move_backward", + "move_right", + "turn_right", + "look_up", + "move_forward", + "move_forward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1380.0, + 10040.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1380.0, + 10040.0, + 2150.0 + ], + "actual_end_pos": [ + -1380.0, + 10040.0, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1380.0, + 10040.0, + 2150.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1380.0, + 10040.0, + 2150.0 + ], + "actual_end_pos": [ + -1380.0, + 10040.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1380.0, + 10040.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1480.0, + 10040.0, + 2150.0 + ], + "actual_end_pos": [ + -1480.0, + 10040.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1480.0, + 10040.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1480.0, + 10140.0, + 2150.0 + ], + "actual_end_pos": [ + -1480.0, + 10140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1480.0, + 10140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1480.0, + 10140.0, + 2150.0 + ], + "actual_end_pos": [ + -1480.0, + 10140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1480.0, + 10140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1505.8819, + 10043.4074, + 2150.0 + ], + "actual_end_pos": [ + -1505.8819, + 10043.4074, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1505.8819, + 10043.4074, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1602.4745, + 10069.2893, + 2150.0 + ], + "actual_end_pos": [ + -1602.4745, + 10069.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1602.4745, + 10069.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1576.5926, + 10165.8819, + 2150.0 + ], + "actual_end_pos": [ + -1576.5926, + 10165.8819, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1576.5926, + 10165.8819, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1576.5926, + 10165.8819, + 2150.0 + ], + "actual_end_pos": [ + -1576.5926, + 10165.8819, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1576.5926, + 10165.8819, + 2150.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1576.5926, + 10165.8819, + 2150.0 + ], + "actual_end_pos": [ + -1576.5926, + 10165.8819, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1576.5926, + 10165.8819, + 2150.0 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1576.5926, + 10165.8819, + 2150.0 + ], + "actual_end_pos": [ + -1576.5926, + 10165.8819, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1576.5926, + 10165.8819, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1626.5926, + 10079.2794, + 2150.0 + ], + "actual_end_pos": [ + -1626.5926, + 10079.2794, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1626.5926, + 10079.2794, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1626.5926, + 10079.2794, + 2150.0 + ], + "actual_end_pos": [ + -1626.5926, + 10079.2794, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1626.5926, + 10079.2794, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1626.5926, + 10079.2794, + 2150.0 + ], + "actual_end_pos": [ + -1626.5926, + 10079.2794, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1626.5926, + 10079.2794, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1697.3033, + 10149.99, + 2150.0 + ], + "actual_end_pos": [ + -1697.3033, + 10149.99, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1697.3033, + 10149.99, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1697.3033, + 10149.99, + 2150.0 + ], + "actual_end_pos": [ + -1697.3033, + 10149.99, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1697.3033, + 10149.99, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1610.7007, + 10099.99, + 2150.0 + ], + "actual_end_pos": [ + -1610.7007, + 10099.99, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1610.7007, + 10099.99, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1524.0982, + 10049.99, + 2150.0 + ], + "actual_end_pos": [ + -1524.0982, + 10049.99, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1524.0982, + 10049.99, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1437.4956, + 9999.99, + 2150.0 + ], + "actual_end_pos": [ + -1437.4956, + 9999.99, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1437.4956, + 9999.99, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1350.8931, + 9949.99, + 2150.0 + ], + "actual_end_pos": [ + -1350.8931, + 9949.99, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1350.8931, + 9949.99, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1350.8931, + 9949.99, + 2150.0 + ], + "actual_end_pos": [ + -1350.8931, + 9949.99, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1350.8931, + 9949.99, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1350.8931, + 9949.99, + 2150.0 + ], + "actual_end_pos": [ + -1350.8931, + 9949.99, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1350.8931, + 9949.99, + 2150.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1325.2326, + 10045.7563, + 2136.9474 + ], + "actual_end_pos": [ + -1325.2326, + 10045.7563, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1325.2326, + 10045.7563, + 2136.9474 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1228.64, + 10019.8744, + 2136.9474 + ], + "actual_end_pos": [ + -1228.64, + 10019.8744, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1228.64, + 10019.8744, + 2136.9474 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1132.0475, + 9993.9925, + 2136.9474 + ], + "actual_end_pos": [ + -1132.0475, + 9993.9925, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1132.0475, + 9993.9925, + 2136.9474 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1157.7079, + 9898.2262, + 2150.0 + ], + "actual_end_pos": [ + -1157.7079, + 9898.2262, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1157.7079, + 9898.2262, + 2150.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1183.3684, + 9802.46, + 2163.0526 + ], + "actual_end_pos": [ + -1183.3684, + 9802.46, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1183.3684, + 9802.46, + 2163.0526 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1279.961, + 9828.3419, + 2163.0526 + ], + "actual_end_pos": [ + -1279.961, + 9828.3419, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1279.961, + 9828.3419, + 2163.0526 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1279.961, + 9828.3419, + 2163.0526 + ], + "actual_end_pos": [ + -1279.961, + 9828.3419, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1279.961, + 9828.3419, + 2163.0526 + ], + "start_rot": [ + -7.5, + 90.0, + -0.0 + ], + "expected_end_pos": [ + -1279.961, + 9828.3419, + 2163.0526 + ], + "actual_end_pos": [ + -1279.961, + 9828.3419, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1279.961, + 9828.3419, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1279.961, + 9928.3419, + 2163.0526 + ], + "actual_end_pos": [ + -1279.961, + 9928.3419, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1279.961, + 9928.3419, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1279.961, + 10028.3419, + 2163.0526 + ], + "actual_end_pos": [ + -1279.961, + 10028.3419, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1279.961, + 10028.3419, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "actual_end_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "actual_end_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "actual_end_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "actual_end_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "actual_end_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "actual_end_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "actual_end_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "actual_end_pos": [ + -1379.961, + 10028.3419, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_003057_meta.json b/loop_easy/run_20260410_184831__traj_003057_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..671975ec4aabcae2749fb06c318f306316cb3c7b --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_003057_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3057, + "episode_id": 0, + "state_id": 2298, + "sample_index": 2298, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1080.0, + 7940.0, + 2150.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "turn_right", + "move_forward", + "move_forward", + "move_left", + "move_left", + "move_forward", + "turn_left", + "move_left", + "look_up", + "turn_left", + "look_down", + "move_right", + "turn_right", + "move_right", + "move_right", + "look_down", + "turn_left", + "move_forward", + "move_right", + "turn_right", + "move_forward", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1080.0, + 7940.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1080.0, + 7940.0, + 2150.0 + ], + "actual_end_pos": [ + -1080.0, + 7940.0, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1080.0, + 7940.0, + 2150.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1080.0, + 7940.0, + 2150.0 + ], + "actual_end_pos": [ + -1080.0, + 7940.0, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1080.0, + 7940.0, + 2150.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1105.6605, + 8035.7662, + 2136.9474 + ], + "actual_end_pos": [ + -1105.6605, + 8035.7662, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1105.6605, + 8035.7662, + 2136.9474 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1131.321, + 8131.5324, + 2123.8948 + ], + "actual_end_pos": [ + -1131.321, + 8131.5324, + 2123.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1131.321, + 8131.5324, + 2123.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1034.7284, + 8157.4143, + 2123.8948 + ], + "actual_end_pos": [ + -1034.7284, + 8157.4143, + 2123.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1034.7284, + 8157.4143, + 2123.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -938.1358, + 8183.2962, + 2123.8948 + ], + "actual_end_pos": [ + -938.1358, + 8183.2962, + 2123.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -938.1358, + 8183.2962, + 2123.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -963.7963, + 8279.0625, + 2110.8421 + ], + "actual_end_pos": [ + -963.7963, + 8279.0625, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -963.7963, + 8279.0625, + 2110.8421 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -963.7963, + 8279.0625, + 2110.8421 + ], + "actual_end_pos": [ + -963.7963, + 8279.0625, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -963.7963, + 8279.0625, + 2110.8421 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -863.7963, + 8279.0625, + 2110.8421 + ], + "actual_end_pos": [ + -863.7963, + 8279.0625, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -863.7963, + 8279.0625, + 2110.8421 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -863.7963, + 8279.0625, + 2110.8421 + ], + "actual_end_pos": [ + -863.7963, + 8279.0625, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -863.7963, + 8279.0625, + 2110.8421 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -863.7963, + 8279.0625, + 2110.8421 + ], + "actual_end_pos": [ + -863.7963, + 8279.0625, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -863.7963, + 8279.0625, + 2110.8421 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -863.7963, + 8279.0625, + 2110.8421 + ], + "actual_end_pos": [ + -863.7963, + 8279.0625, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -863.7963, + 8279.0625, + 2110.8421 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -960.3889, + 8304.9444, + 2110.8421 + ], + "actual_end_pos": [ + -960.3889, + 8304.9444, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -960.3889, + 8304.9444, + 2110.8421 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -960.3889, + 8304.9444, + 2110.8421 + ], + "actual_end_pos": [ + -960.3889, + 8304.9444, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -960.3889, + 8304.9444, + 2110.8421 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1060.3889, + 8304.9444, + 2110.8421 + ], + "actual_end_pos": [ + -1060.3889, + 8304.9444, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1060.3889, + 8304.9444, + 2110.8421 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1160.3889, + 8304.9444, + 2110.8421 + ], + "actual_end_pos": [ + -1160.3889, + 8304.9444, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1160.3889, + 8304.9444, + 2110.8421 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1160.3889, + 8304.9444, + 2110.8421 + ], + "actual_end_pos": [ + -1160.3889, + 8304.9444, + 2110.8421 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1160.3889, + 8304.9444, + 2110.8421 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1160.3889, + 8304.9444, + 2110.8421 + ], + "actual_end_pos": [ + -1160.3889, + 8304.9444, + 2110.8421 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1160.3889, + 8304.9444, + 2110.8421 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1135.3889, + 8398.2456, + 2084.9602 + ], + "actual_end_pos": [ + -1135.3889, + 8398.2456, + 2084.9602 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1135.3889, + 8398.2456, + 2084.9602 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1231.9814, + 8424.1275, + 2084.9602 + ], + "actual_end_pos": [ + -1231.9814, + 8424.1275, + 2084.9602 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1231.9814, + 8424.1275, + 2084.9602 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1231.9814, + 8424.1275, + 2084.9602 + ], + "actual_end_pos": [ + -1231.9814, + 8424.1275, + 2084.9602 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1231.9814, + 8424.1275, + 2084.9602 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1231.9814, + 8520.7201, + 2059.0783 + ], + "actual_end_pos": [ + -1231.9814, + 8520.7201, + 2059.0783 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1231.9814, + 8520.7201, + 2059.0783 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1231.9814, + 8520.7201, + 2059.0783 + ], + "actual_end_pos": [ + -1231.9814, + 8520.7201, + 2059.0783 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1231.9814, + 8520.7201, + 2059.0783 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1231.9814, + 8421.5756, + 2072.131 + ], + "actual_end_pos": [ + -1231.9814, + 8421.5756, + 2072.131 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1231.9814, + 8421.5756, + 2072.131 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1231.9814, + 8322.4312, + 2085.1836 + ], + "actual_end_pos": [ + -1231.9814, + 8322.4312, + 2085.1836 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1231.9814, + 8322.4312, + 2085.1836 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1231.9814, + 8223.2867, + 2098.2362 + ], + "actual_end_pos": [ + -1231.9814, + 8223.2867, + 2098.2362 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1231.9814, + 8223.2867, + 2098.2362 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1231.9814, + 8124.1422, + 2111.2888 + ], + "actual_end_pos": [ + -1231.9814, + 8124.1422, + 2111.2888 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1231.9814, + 8124.1422, + 2111.2888 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1231.9814, + 8024.9977, + 2124.3414 + ], + "actual_end_pos": [ + -1231.9814, + 8024.9977, + 2124.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1231.9814, + 8024.9977, + 2124.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1231.9814, + 7925.8532, + 2137.394 + ], + "actual_end_pos": [ + -1231.9814, + 7925.8532, + 2137.394 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1231.9814, + 7925.8532, + 2137.394 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1131.9814, + 7925.8532, + 2137.394 + ], + "actual_end_pos": [ + -1131.9814, + 7925.8532, + 2137.394 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1131.9814, + 7925.8532, + 2137.394 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "actual_end_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "actual_end_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "actual_end_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "actual_end_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "actual_end_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "actual_end_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "actual_end_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "actual_end_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "actual_end_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "actual_end_pos": [ + -1031.9814, + 7925.8532, + 2137.394 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_003224_meta.json b/loop_easy/run_20260410_184831__traj_003224_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..33a9485d6931d0219edefad973e6f245cf10e189 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_003224_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3224, + "episode_id": 0, + "state_id": 2427, + "sample_index": 2427, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -780.0, + 6440.0, + 2150.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_left", + "move_left", + "turn_right", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_forward", + "turn_right", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_backward", + "turn_right", + "move_left", + "turn_right", + "no_op", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "look_down", + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -780.0, + 6440.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -709.2893, + 6369.2893, + 2150.0 + ], + "actual_end_pos": [ + -709.2893, + 6369.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -709.2893, + 6369.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -638.5786, + 6298.5786, + 2150.0 + ], + "actual_end_pos": [ + -638.5786, + 6298.5786, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -638.5786, + 6298.5786, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -567.868, + 6369.2893, + 2150.0 + ], + "actual_end_pos": [ + -567.868, + 6369.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -567.868, + 6369.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -497.1573, + 6440.0, + 2150.0 + ], + "actual_end_pos": [ + -497.1573, + 6440.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -497.1573, + 6440.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -497.1573, + 6440.0, + 2150.0 + ], + "actual_end_pos": [ + -497.1573, + 6440.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -497.1573, + 6440.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -497.1573, + 6440.0, + 2150.0 + ], + "actual_end_pos": [ + -497.1573, + 6440.0, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -497.1573, + 6440.0, + 2150.0 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -411.2956, + 6390.4278, + 2136.9474 + ], + "actual_end_pos": [ + -411.2956, + 6390.4278, + 2136.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -411.2956, + 6390.4278, + 2136.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -325.434, + 6340.8555, + 2123.8948 + ], + "actual_end_pos": [ + -325.434, + 6340.8555, + 2123.8948 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -325.434, + 6340.8555, + 2123.8948 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -239.5724, + 6291.2833, + 2110.8421 + ], + "actual_end_pos": [ + -239.5724, + 6291.2833, + 2110.8421 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -239.5724, + 6291.2833, + 2110.8421 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -153.7107, + 6241.711, + 2097.7895 + ], + "actual_end_pos": [ + -153.7107, + 6241.711, + 2097.7895 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -153.7107, + 6241.711, + 2097.7895 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -239.5724, + 6291.2833, + 2110.8421 + ], + "actual_end_pos": [ + -239.5724, + 6291.2833, + 2110.8421 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -239.5724, + 6291.2833, + 2110.8421 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -239.5724, + 6291.2833, + 2110.8421 + ], + "actual_end_pos": [ + -239.5724, + 6291.2833, + 2110.8421 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -239.5724, + 6291.2833, + 2110.8421 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -213.6905, + 6387.8758, + 2110.8421 + ], + "actual_end_pos": [ + -213.6905, + 6387.8758, + 2110.8421 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -213.6905, + 6387.8758, + 2110.8421 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -187.8085, + 6484.4684, + 2110.8421 + ], + "actual_end_pos": [ + -187.8085, + 6484.4684, + 2110.8421 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -187.8085, + 6484.4684, + 2110.8421 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -161.9266, + 6581.061, + 2110.8421 + ], + "actual_end_pos": [ + -161.9266, + 6581.061, + 2110.8421 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -161.9266, + 6581.061, + 2110.8421 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -136.0447, + 6677.6536, + 2110.8421 + ], + "actual_end_pos": [ + -136.0447, + 6677.6536, + 2110.8421 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -136.0447, + 6677.6536, + 2110.8421 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -110.1628, + 6774.2462, + 2110.8421 + ], + "actual_end_pos": [ + -110.1628, + 6774.2462, + 2110.8421 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -110.1628, + 6774.2462, + 2110.8421 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -110.1628, + 6774.2462, + 2110.8421 + ], + "actual_end_pos": [ + -110.1628, + 6774.2462, + 2110.8421 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -110.1628, + 6774.2462, + 2110.8421 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -11.0183, + 6774.2462, + 2097.7895 + ], + "actual_end_pos": [ + -11.0183, + 6774.2462, + 2097.7895 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -11.0183, + 6774.2462, + 2097.7895 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -11.0183, + 6774.2462, + 2097.7895 + ], + "actual_end_pos": [ + -11.0183, + 6774.2462, + 2097.7895 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -11.0183, + 6774.2462, + 2097.7895 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "actual_end_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "actual_end_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "actual_end_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "actual_end_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "actual_end_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "actual_end_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "actual_end_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "actual_end_rot": [ + 7.5, + 150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "start_rot": [ + 7.5, + 150.0, + -0.0 + ], + "expected_end_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "actual_end_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "actual_end_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -36.9002, + 6870.8388, + 2097.7895 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -107.6109, + 6941.5494, + 2097.7895 + ], + "actual_end_pos": [ + -107.6109, + 6941.5494, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -107.6109, + 6941.5494, + 2097.7895 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -178.3216, + 7012.2601, + 2097.7895 + ], + "actual_end_pos": [ + -178.3216, + 7012.2601, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -178.3216, + 7012.2601, + 2097.7895 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -249.0323, + 6941.5494, + 2097.7895 + ], + "actual_end_pos": [ + -249.0323, + 6941.5494, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -249.0323, + 6941.5494, + 2097.7895 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -319.743, + 6870.8388, + 2097.7895 + ], + "actual_end_pos": [ + -319.743, + 6870.8388, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -319.743, + 6870.8388, + 2097.7895 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -390.4536, + 6800.1281, + 2097.7895 + ], + "actual_end_pos": [ + -390.4536, + 6800.1281, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -390.4536, + 6800.1281, + 2097.7895 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -461.1643, + 6729.4174, + 2097.7895 + ], + "actual_end_pos": [ + -461.1643, + 6729.4174, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -461.1643, + 6729.4174, + 2097.7895 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -531.875, + 6658.7067, + 2097.7895 + ], + "actual_end_pos": [ + -531.875, + 6658.7067, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -531.875, + 6658.7067, + 2097.7895 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -602.5857, + 6587.996, + 2097.7895 + ], + "actual_end_pos": [ + -602.5857, + 6587.996, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -602.5857, + 6587.996, + 2097.7895 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -673.2964, + 6517.2854, + 2097.7895 + ], + "actual_end_pos": [ + -673.2964, + 6517.2854, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -673.2964, + 6517.2854, + 2097.7895 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -744.007, + 6446.5747, + 2097.7895 + ], + "actual_end_pos": [ + -744.007, + 6446.5747, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -744.007, + 6446.5747, + 2097.7895 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -744.007, + 6446.5747, + 2097.7895 + ], + "actual_end_pos": [ + -744.007, + 6446.5747, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_003230_meta.json b/loop_easy/run_20260410_184831__traj_003230_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..63b639f2da7dc9dcb5f8dccdb8d17cfd231907a5 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_003230_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3230, + "episode_id": 0, + "state_id": 2433, + "sample_index": 2433, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -780.0, + 6740.0, + 2150.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "turn_left", + "move_right", + "move_backward", + "turn_left", + "move_right", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "look_down", + "move_forward", + "move_right", + "move_right", + "look_up", + "move_backward", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -780.0, + 6740.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -850.7107, + 6669.2893, + 2150.0 + ], + "actual_end_pos": [ + -850.7107, + 6669.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -850.7107, + 6669.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -921.4214, + 6598.5786, + 2150.0 + ], + "actual_end_pos": [ + -921.4214, + 6598.5786, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -921.4214, + 6598.5786, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -921.4214, + 6598.5786, + 2150.0 + ], + "actual_end_pos": [ + -921.4214, + 6598.5786, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -921.4214, + 6598.5786, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -971.4214, + 6685.1812, + 2150.0 + ], + "actual_end_pos": [ + -971.4214, + 6685.1812, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -971.4214, + 6685.1812, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1058.0239, + 6635.1812, + 2150.0 + ], + "actual_end_pos": [ + -1058.0239, + 6635.1812, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1058.0239, + 6635.1812, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1058.0239, + 6635.1812, + 2150.0 + ], + "actual_end_pos": [ + -1058.0239, + 6635.1812, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1058.0239, + 6635.1812, + 2150.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1083.9058, + 6731.7738, + 2150.0 + ], + "actual_end_pos": [ + -1083.9058, + 6731.7738, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1083.9058, + 6731.7738, + 2150.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -987.3132, + 6757.6557, + 2150.0 + ], + "actual_end_pos": [ + -987.3132, + 6757.6557, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -987.3132, + 6757.6557, + 2150.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -890.7206, + 6783.5376, + 2150.0 + ], + "actual_end_pos": [ + -890.7206, + 6783.5376, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -890.7206, + 6783.5376, + 2150.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -890.7206, + 6783.5376, + 2150.0 + ], + "actual_end_pos": [ + -890.7206, + 6783.5376, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -890.7206, + 6783.5376, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -890.7206, + 6783.5376, + 2150.0 + ], + "actual_end_pos": [ + -890.7206, + 6783.5376, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -890.7206, + 6783.5376, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -890.7206, + 6783.5376, + 2150.0 + ], + "actual_end_pos": [ + -890.7206, + 6783.5376, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -890.7206, + 6783.5376, + 2150.0 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6853.6433, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6853.6433, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -820.6149, + 6853.6433, + 2136.9474 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -891.3256, + 6924.354, + 2136.9474 + ], + "actual_end_pos": [ + -891.3256, + 6924.354, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -891.3256, + 6924.354, + 2136.9474 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -962.0363, + 6995.0647, + 2136.9474 + ], + "actual_end_pos": [ + -962.0363, + 6995.0647, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -962.0363, + 6995.0647, + 2136.9474 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -962.0363, + 6995.0647, + 2136.9474 + ], + "actual_end_pos": [ + -962.0363, + 6995.0647, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -962.0363, + 6995.0647, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -1032.7469, + 6924.354, + 2136.9474 + ], + "actual_end_pos": [ + -1032.7469, + 6924.354, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1032.7469, + 6924.354, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -962.0363, + 6853.6433, + 2136.9474 + ], + "actual_end_pos": [ + -962.0363, + 6853.6433, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -962.0363, + 6853.6433, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -891.3256, + 6782.9326, + 2136.9474 + ], + "actual_end_pos": [ + -891.3256, + 6782.9326, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -891.3256, + 6782.9326, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_pos": [ + -820.6149, + 6712.222, + 2136.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_003329_meta.json b/loop_easy/run_20260410_184831__traj_003329_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..44bf7cc99f5796c085b48fc35fd0f1f5d0db54ba --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_003329_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3329, + "episode_id": 0, + "state_id": 2511, + "sample_index": 2511, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -780.0, + 9740.0, + 2150.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_left", + "no_op", + "turn_right", + "turn_right", + "look_down", + "move_backward", + "move_backward", + "look_down", + "move_forward", + "no_op", + "move_forward", + "no_op", + "look_down", + "no_op", + "turn_left", + "turn_left", + "move_backward", + "move_left", + "move_forward", + "move_forward", + "turn_left", + "look_up", + "look_up", + "move_backward", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -780.0, + 9740.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -780.0, + 9740.0, + 2150.0 + ], + "actual_end_pos": [ + -780.0, + 9740.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -780.0, + 9740.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -830.0, + 9653.3975, + 2150.0 + ], + "actual_end_pos": [ + -830.0, + 9653.3975, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -830.0, + 9653.3975, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -830.0, + 9653.3975, + 2150.0 + ], + "actual_end_pos": [ + -830.0, + 9653.3975, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -830.0, + 9653.3975, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -830.0, + 9653.3975, + 2150.0 + ], + "actual_end_pos": [ + -830.0, + 9653.3975, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -830.0, + 9653.3975, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -830.0, + 9653.3975, + 2150.0 + ], + "actual_end_pos": [ + -830.0, + 9653.3975, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -830.0, + 9653.3975, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -830.0, + 9653.3975, + 2150.0 + ], + "actual_end_pos": [ + -830.0, + 9653.3975, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -830.0, + 9653.3975, + 2150.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -929.1445, + 9653.3975, + 2163.0526 + ], + "actual_end_pos": [ + -929.1445, + 9653.3975, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -929.1445, + 9653.3975, + 2163.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1028.289, + 9653.3975, + 2176.1052 + ], + "actual_end_pos": [ + -1028.289, + 9653.3975, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1028.289, + 9653.3975, + 2176.1052 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1028.289, + 9653.3975, + 2176.1052 + ], + "actual_end_pos": [ + -1028.289, + 9653.3975, + 2176.1052 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1028.289, + 9653.3975, + 2176.1052 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -931.6964, + 9653.3975, + 2150.2233 + ], + "actual_end_pos": [ + -931.6964, + 9653.3975, + 2150.2233 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -931.6964, + 9653.3975, + 2150.2233 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -931.6964, + 9653.3975, + 2150.2233 + ], + "actual_end_pos": [ + -931.6964, + 9653.3975, + 2150.2233 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -931.6964, + 9653.3975, + 2150.2233 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -835.1038, + 9653.3975, + 2124.3414 + ], + "actual_end_pos": [ + -835.1038, + 9653.3975, + 2124.3414 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -835.1038, + 9653.3975, + 2124.3414 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -835.1038, + 9653.3975, + 2124.3414 + ], + "actual_end_pos": [ + -835.1038, + 9653.3975, + 2124.3414 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -835.1038, + 9653.3975, + 2124.3414 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -835.1038, + 9653.3975, + 2124.3414 + ], + "actual_end_pos": [ + -835.1038, + 9653.3975, + 2124.3414 + ], + "actual_end_rot": [ + -22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -835.1038, + 9653.3975, + 2124.3414 + ], + "start_rot": [ + -22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -835.1038, + 9653.3975, + 2124.3414 + ], + "actual_end_pos": [ + -835.1038, + 9653.3975, + 2124.3414 + ], + "actual_end_rot": [ + -22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -835.1038, + 9653.3975, + 2124.3414 + ], + "start_rot": [ + -22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -835.1038, + 9653.3975, + 2124.3414 + ], + "actual_end_pos": [ + -835.1038, + 9653.3975, + 2124.3414 + ], + "actual_end_rot": [ + -22.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -835.1038, + 9653.3975, + 2124.3414 + ], + "start_rot": [ + -22.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -835.1038, + 9653.3975, + 2124.3414 + ], + "actual_end_pos": [ + -835.1038, + 9653.3975, + 2124.3414 + ], + "actual_end_rot": [ + -22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -835.1038, + 9653.3975, + 2124.3414 + ], + "start_rot": [ + -22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -915.1141, + 9699.5914, + 2162.6098 + ], + "actual_end_pos": [ + -915.1141, + 9699.5914, + 2162.6098 + ], + "actual_end_rot": [ + -22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -915.1141, + 9699.5914, + 2162.6098 + ], + "start_rot": [ + -22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -965.1141, + 9612.9889, + 2162.6098 + ], + "actual_end_pos": [ + -965.1141, + 9612.9889, + 2162.6098 + ], + "actual_end_rot": [ + -22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -965.1141, + 9612.9889, + 2162.6098 + ], + "start_rot": [ + -22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -885.1038, + 9566.7949, + 2124.3414 + ], + "actual_end_pos": [ + -885.1038, + 9566.7949, + 2124.3414 + ], + "actual_end_rot": [ + -22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -885.1038, + 9566.7949, + 2124.3414 + ], + "start_rot": [ + -22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -805.0935, + 9520.6009, + 2086.0731 + ], + "actual_end_pos": [ + -805.0935, + 9520.6009, + 2086.0731 + ], + "actual_end_rot": [ + -22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -805.0935, + 9520.6009, + 2086.0731 + ], + "start_rot": [ + -22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -805.0935, + 9520.6009, + 2086.0731 + ], + "actual_end_pos": [ + -805.0935, + 9520.6009, + 2086.0731 + ], + "actual_end_rot": [ + -22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -805.0935, + 9520.6009, + 2086.0731 + ], + "start_rot": [ + -22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -805.0935, + 9520.6009, + 2086.0731 + ], + "actual_end_pos": [ + -805.0935, + 9520.6009, + 2086.0731 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -805.0935, + 9520.6009, + 2086.0731 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -805.0935, + 9520.6009, + 2086.0731 + ], + "actual_end_pos": [ + -805.0935, + 9520.6009, + 2086.0731 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -805.0935, + 9520.6009, + 2086.0731 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -875.1992, + 9590.7067, + 2099.1257 + ], + "actual_end_pos": [ + -875.1992, + 9590.7067, + 2099.1257 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -875.1992, + 9590.7067, + 2099.1257 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -804.4886, + 9661.4174, + 2099.1257 + ], + "actual_end_pos": [ + -804.4886, + 9661.4174, + 2099.1257 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -804.4886, + 9661.4174, + 2099.1257 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_pos": [ + -733.7779, + 9732.128, + 2099.1257 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_003362_meta.json b/loop_easy/run_20260410_184831__traj_003362_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c8d05a675f030c2da5c2ddb49526e30b46caeef3 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_003362_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3362, + "episode_id": 0, + "state_id": 2535, + "sample_index": 2535, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -780.0, + 12140.0, + 2150.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "turn_left", + "move_left", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_left", + "no_op", + "move_left", + "move_left", + "move_forward", + "turn_left", + "move_backward", + "move_left", + "turn_left", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -780.0, + 12140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -709.2893, + 12210.7107, + 2150.0 + ], + "actual_end_pos": [ + -709.2893, + 12210.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -709.2893, + 12210.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -638.5786, + 12281.4214, + 2150.0 + ], + "actual_end_pos": [ + -638.5786, + 12281.4214, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -638.5786, + 12281.4214, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -638.5786, + 12281.4214, + 2150.0 + ], + "actual_end_pos": [ + -638.5786, + 12281.4214, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -638.5786, + 12281.4214, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -725.1812, + 12231.4214, + 2150.0 + ], + "actual_end_pos": [ + -725.1812, + 12231.4214, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -725.1812, + 12231.4214, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -675.1812, + 12144.8188, + 2150.0 + ], + "actual_end_pos": [ + -675.1812, + 12144.8188, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -675.1812, + 12144.8188, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -625.1812, + 12058.2163, + 2150.0 + ], + "actual_end_pos": [ + -625.1812, + 12058.2163, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -625.1812, + 12058.2163, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -625.1812, + 12058.2163, + 2150.0 + ], + "actual_end_pos": [ + -625.1812, + 12058.2163, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -625.1812, + 12058.2163, + 2150.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -625.1812, + 12058.2163, + 2150.0 + ], + "actual_end_pos": [ + -625.1812, + 12058.2163, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -625.1812, + 12058.2163, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -725.1812, + 12058.2163, + 2150.0 + ], + "actual_end_pos": [ + -725.1812, + 12058.2163, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -725.1812, + 12058.2163, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -725.1812, + 12058.2163, + 2150.0 + ], + "actual_end_pos": [ + -725.1812, + 12058.2163, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -725.1812, + 12058.2163, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -825.1812, + 12058.2163, + 2150.0 + ], + "actual_end_pos": [ + -825.1812, + 12058.2163, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -825.1812, + 12058.2163, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -925.1812, + 12058.2163, + 2150.0 + ], + "actual_end_pos": [ + -925.1812, + 12058.2163, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -925.1812, + 12058.2163, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -925.1812, + 11958.2163, + 2150.0 + ], + "actual_end_pos": [ + -925.1812, + 11958.2163, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -925.1812, + 11958.2163, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -925.1812, + 11958.2163, + 2150.0 + ], + "actual_end_pos": [ + -925.1812, + 11958.2163, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -925.1812, + 11958.2163, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -899.2993, + 12054.8089, + 2150.0 + ], + "actual_end_pos": [ + -899.2993, + 12054.8089, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -899.2993, + 12054.8089, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -995.8919, + 12080.6908, + 2150.0 + ], + "actual_end_pos": [ + -995.8919, + 12080.6908, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -995.8919, + 12080.6908, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -995.8919, + 12080.6908, + 2150.0 + ], + "actual_end_pos": [ + -995.8919, + 12080.6908, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -995.8919, + 12080.6908, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -995.8919, + 12080.6908, + 2150.0 + ], + "actual_end_pos": [ + -995.8919, + 12080.6908, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -995.8919, + 12080.6908, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -995.8919, + 12080.6908, + 2150.0 + ], + "actual_end_pos": [ + -995.8919, + 12080.6908, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -995.8919, + 12080.6908, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -995.8919, + 12080.6908, + 2150.0 + ], + "actual_end_pos": [ + -995.8919, + 12080.6908, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -995.8919, + 12080.6908, + 2150.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -995.8919, + 12080.6908, + 2150.0 + ], + "actual_end_pos": [ + -995.8919, + 12080.6908, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -995.8919, + 12080.6908, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -995.8919, + 12080.6908, + 2150.0 + ], + "actual_end_pos": [ + -995.8919, + 12080.6908, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -995.8919, + 12080.6908, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -925.1812, + 12009.9801, + 2150.0 + ], + "actual_end_pos": [ + -925.1812, + 12009.9801, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -925.1812, + 12009.9801, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -854.4705, + 12080.6908, + 2150.0 + ], + "actual_end_pos": [ + -854.4705, + 12080.6908, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -854.4705, + 12080.6908, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_pos": [ + -783.7598, + 12151.4014, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_003388_meta.json b/loop_easy/run_20260410_184831__traj_003388_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..573944c610347c3dfa59aac49b94ae3a5a2714f3 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_003388_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3388, + "episode_id": 0, + "state_id": 2556, + "sample_index": 2556, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -780.0, + 15140.0, + 2150.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_right", + "move_right", + "look_up", + "no_op", + "move_right", + "move_backward", + "move_backward", + "move_left", + "move_right", + "move_forward", + "move_left", + "turn_right", + "move_forward", + "look_up", + "move_left", + "no_op", + "move_backward", + "move_right", + "move_forward", + "turn_left", + "turn_left", + "move_left", + "look_down", + "move_forward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -780.0, + 15140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -780.0, + 15140.0, + 2150.0 + ], + "actual_end_pos": [ + -780.0, + 15140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -780.0, + 15140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -754.1181, + 15043.4074, + 2150.0 + ], + "actual_end_pos": [ + -754.1181, + 15043.4074, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -754.1181, + 15043.4074, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -728.2362, + 14946.8148, + 2150.0 + ], + "actual_end_pos": [ + -728.2362, + 14946.8148, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -728.2362, + 14946.8148, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -728.2362, + 14946.8148, + 2150.0 + ], + "actual_end_pos": [ + -728.2362, + 14946.8148, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -728.2362, + 14946.8148, + 2150.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -728.2362, + 14946.8148, + 2150.0 + ], + "actual_end_pos": [ + -728.2362, + 14946.8148, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -728.2362, + 14946.8148, + 2150.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -702.3543, + 14850.2223, + 2150.0 + ], + "actual_end_pos": [ + -702.3543, + 14850.2223, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -702.3543, + 14850.2223, + 2150.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -606.5881, + 14875.8827, + 2136.9474 + ], + "actual_end_pos": [ + -606.5881, + 14875.8827, + 2136.9474 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -606.5881, + 14875.8827, + 2136.9474 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -510.8218, + 14901.5432, + 2123.8948 + ], + "actual_end_pos": [ + -510.8218, + 14901.5432, + 2123.8948 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -510.8218, + 14901.5432, + 2123.8948 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -536.7037, + 14998.1358, + 2123.8948 + ], + "actual_end_pos": [ + -536.7037, + 14998.1358, + 2123.8948 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -536.7037, + 14998.1358, + 2123.8948 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -510.8218, + 14901.5432, + 2123.8948 + ], + "actual_end_pos": [ + -510.8218, + 14901.5432, + 2123.8948 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -510.8218, + 14901.5432, + 2123.8948 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -606.5881, + 14875.8827, + 2136.9474 + ], + "actual_end_pos": [ + -606.5881, + 14875.8827, + 2136.9474 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -606.5881, + 14875.8827, + 2136.9474 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -632.47, + 14972.4753, + 2136.9474 + ], + "actual_end_pos": [ + -632.47, + 14972.4753, + 2136.9474 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -632.47, + 14972.4753, + 2136.9474 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -632.47, + 14972.4753, + 2136.9474 + ], + "actual_end_pos": [ + -632.47, + 14972.4753, + 2136.9474 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -632.47, + 14972.4753, + 2136.9474 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -718.3316, + 14922.9031, + 2150.0 + ], + "actual_end_pos": [ + -718.3316, + 14922.9031, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -718.3316, + 14922.9031, + 2150.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -718.3316, + 14922.9031, + 2150.0 + ], + "actual_end_pos": [ + -718.3316, + 14922.9031, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -718.3316, + 14922.9031, + 2150.0 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -768.3316, + 15009.5056, + 2150.0 + ], + "actual_end_pos": [ + -768.3316, + 15009.5056, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -768.3316, + 15009.5056, + 2150.0 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -768.3316, + 15009.5056, + 2150.0 + ], + "actual_end_pos": [ + -768.3316, + 15009.5056, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -768.3316, + 15009.5056, + 2150.0 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -684.68, + 15057.8019, + 2124.1181 + ], + "actual_end_pos": [ + -684.68, + 15057.8019, + 2124.1181 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -684.68, + 15057.8019, + 2124.1181 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -634.68, + 14971.1994, + 2124.1181 + ], + "actual_end_pos": [ + -634.68, + 14971.1994, + 2124.1181 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -634.68, + 14971.1994, + 2124.1181 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -718.3316, + 14922.9031, + 2150.0 + ], + "actual_end_pos": [ + -718.3316, + 14922.9031, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -718.3316, + 14922.9031, + 2150.0 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -718.3316, + 14922.9031, + 2150.0 + ], + "actual_end_pos": [ + -718.3316, + 14922.9031, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -718.3316, + 14922.9031, + 2150.0 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -718.3316, + 14922.9031, + 2150.0 + ], + "actual_end_pos": [ + -718.3316, + 14922.9031, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -718.3316, + 14922.9031, + 2150.0 + ], + "start_rot": [ + 15.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -718.3316, + 15022.9031, + 2150.0 + ], + "actual_end_pos": [ + -718.3316, + 15022.9031, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -718.3316, + 15022.9031, + 2150.0 + ], + "start_rot": [ + 15.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -718.3316, + 15022.9031, + 2150.0 + ], + "actual_end_pos": [ + -718.3316, + 15022.9031, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -718.3316, + 15022.9031, + 2150.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -817.4761, + 15022.9031, + 2163.0526 + ], + "actual_end_pos": [ + -817.4761, + 15022.9031, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -817.4761, + 15022.9031, + 2163.0526 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_pos": [ + -817.4761, + 15122.9031, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_003798_meta.json b/loop_easy/run_20260410_184831__traj_003798_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ef2cb9c359c604bb339b036527fb2000ccfba53 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_003798_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3798, + "episode_id": 0, + "state_id": 2867, + "sample_index": 2867, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -180.0, + 9440.0, + 2150.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "look_up", + "turn_left", + "move_right", + "move_backward", + "move_left", + "move_forward", + "turn_right", + "move_forward", + "turn_left", + "move_left", + "move_backward", + "turn_right", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -180.0, + 9440.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -250.7107, + 9510.7107, + 2150.0 + ], + "actual_end_pos": [ + -250.7107, + 9510.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -250.7107, + 9510.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -321.4214, + 9581.4214, + 2150.0 + ], + "actual_end_pos": [ + -321.4214, + 9581.4214, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -321.4214, + 9581.4214, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -392.132, + 9652.132, + 2150.0 + ], + "actual_end_pos": [ + -392.132, + 9652.132, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -392.132, + 9652.132, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -462.8427, + 9722.8427, + 2150.0 + ], + "actual_end_pos": [ + -462.8427, + 9722.8427, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -462.8427, + 9722.8427, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -462.8427, + 9722.8427, + 2150.0 + ], + "actual_end_pos": [ + -462.8427, + 9722.8427, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -462.8427, + 9722.8427, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -462.8427, + 9722.8427, + 2150.0 + ], + "actual_end_pos": [ + -462.8427, + 9722.8427, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -462.8427, + 9722.8427, + 2150.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + -462.8427, + 9722.8427, + 2150.0 + ], + "actual_end_pos": [ + -462.8427, + 9722.8427, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -462.8427, + 9722.8427, + 2150.0 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -549.4452, + 9672.8427, + 2150.0 + ], + "actual_end_pos": [ + -549.4452, + 9672.8427, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -549.4452, + 9672.8427, + 2150.0 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -499.873, + 9586.9811, + 2136.9474 + ], + "actual_end_pos": [ + -499.873, + 9586.9811, + 2136.9474 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -499.873, + 9586.9811, + 2136.9474 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -413.2705, + 9636.9811, + 2136.9474 + ], + "actual_end_pos": [ + -413.2705, + 9636.9811, + 2136.9474 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -413.2705, + 9636.9811, + 2136.9474 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -462.8427, + 9722.8427, + 2150.0 + ], + "actual_end_pos": [ + -462.8427, + 9722.8427, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -462.8427, + 9722.8427, + 2150.0 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -462.8427, + 9722.8427, + 2150.0 + ], + "actual_end_pos": [ + -462.8427, + 9722.8427, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -462.8427, + 9722.8427, + 2150.0 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -532.9484, + 9792.9485, + 2163.0526 + ], + "actual_end_pos": [ + -532.9484, + 9792.9485, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -532.9484, + 9792.9485, + 2163.0526 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -532.9484, + 9792.9485, + 2163.0526 + ], + "actual_end_pos": [ + -532.9484, + 9792.9485, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -532.9484, + 9792.9485, + 2163.0526 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -446.3459, + 9842.9485, + 2163.0526 + ], + "actual_end_pos": [ + -446.3459, + 9842.9485, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -446.3459, + 9842.9485, + 2163.0526 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -396.7737, + 9757.0868, + 2150.0 + ], + "actual_end_pos": [ + -396.7737, + 9757.0868, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -396.7737, + 9757.0868, + 2150.0 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -396.7737, + 9757.0868, + 2150.0 + ], + "actual_end_pos": [ + -396.7737, + 9757.0868, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -396.7737, + 9757.0868, + 2150.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + -396.7737, + 9757.0868, + 2150.0 + ], + "actual_end_pos": [ + -396.7737, + 9757.0868, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -396.7737, + 9757.0868, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -326.063, + 9686.3761, + 2150.0 + ], + "actual_end_pos": [ + -326.063, + 9686.3761, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -326.063, + 9686.3761, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -255.3523, + 9615.6655, + 2150.0 + ], + "actual_end_pos": [ + -255.3523, + 9615.6655, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -255.3523, + 9615.6655, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -184.6416, + 9544.9548, + 2150.0 + ], + "actual_end_pos": [ + -184.6416, + 9544.9548, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -184.6416, + 9544.9548, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -113.931, + 9474.2441, + 2150.0 + ], + "actual_end_pos": [ + -113.931, + 9474.2441, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -113.931, + 9474.2441, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_pos": [ + -184.6416, + 9403.5334, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_003925_meta.json b/loop_easy/run_20260410_184831__traj_003925_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bf38d8d41eb7deee17e2df3b45f7bea34dc924ef --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_003925_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3925, + "episode_id": 0, + "state_id": 2959, + "sample_index": 2959, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -180.0, + 13640.0, + 2150.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "turn_right", + "move_forward", + "move_left", + "look_down", + "look_down", + "look_down", + "move_left", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "look_down", + "move_right", + "turn_right", + "move_right", + "move_forward", + "move_right", + "move_forward", + "turn_right", + "move_left", + "turn_right", + "move_forward", + "look_down", + "turn_left", + "turn_left", + "look_up", + "look_up", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -180.0, + 13640.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -180.0, + 13640.0, + 2150.0 + ], + "actual_end_pos": [ + -180.0, + 13640.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -180.0, + 13640.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -180.0, + 13640.0, + 2150.0 + ], + "actual_end_pos": [ + -180.0, + 13640.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -180.0, + 13640.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -93.3975, + 13590.0, + 2150.0 + ], + "actual_end_pos": [ + -93.3975, + 13590.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -93.3975, + 13590.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -143.3975, + 13503.3975, + 2150.0 + ], + "actual_end_pos": [ + -143.3975, + 13503.3975, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -143.3975, + 13503.3975, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -143.3975, + 13503.3975, + 2150.0 + ], + "actual_end_pos": [ + -143.3975, + 13503.3975, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -143.3975, + 13503.3975, + 2150.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -143.3975, + 13503.3975, + 2150.0 + ], + "actual_end_pos": [ + -143.3975, + 13503.3975, + 2150.0 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -143.3975, + 13503.3975, + 2150.0 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -143.3975, + 13503.3975, + 2150.0 + ], + "actual_end_pos": [ + -143.3975, + 13503.3975, + 2150.0 + ], + "actual_end_rot": [ + -22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -143.3975, + 13503.3975, + 2150.0 + ], + "start_rot": [ + -22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -193.3975, + 13416.7949, + 2150.0 + ], + "actual_end_pos": [ + -193.3975, + 13416.7949, + 2150.0 + ], + "actual_end_rot": [ + -22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -193.3975, + 13416.7949, + 2150.0 + ], + "start_rot": [ + -22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -113.3871, + 13370.6009, + 2111.7317 + ], + "actual_end_pos": [ + -113.3871, + 13370.6009, + 2111.7317 + ], + "actual_end_rot": [ + -22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -113.3871, + 13370.6009, + 2111.7317 + ], + "start_rot": [ + -22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -33.3768, + 13324.407, + 2073.4633 + ], + "actual_end_pos": [ + -33.3768, + 13324.407, + 2073.4633 + ], + "actual_end_rot": [ + -22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -33.3768, + 13324.407, + 2073.4633 + ], + "start_rot": [ + -22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -33.3768, + 13324.407, + 2073.4633 + ], + "actual_end_pos": [ + -33.3768, + 13324.407, + 2073.4633 + ], + "actual_end_rot": [ + -22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -33.3768, + 13324.407, + 2073.4633 + ], + "start_rot": [ + -22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -33.3768, + 13324.407, + 2073.4633 + ], + "actual_end_pos": [ + -33.3768, + 13324.407, + 2073.4633 + ], + "actual_end_rot": [ + -22.5, + -60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -33.3768, + 13324.407, + 2073.4633 + ], + "start_rot": [ + -22.5, + -60.0, + -0.0 + ], + "expected_end_pos": [ + -33.3768, + 13324.407, + 2073.4633 + ], + "actual_end_pos": [ + -33.3768, + 13324.407, + 2073.4633 + ], + "actual_end_rot": [ + -30.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -33.3768, + 13324.407, + 2073.4633 + ], + "start_rot": [ + -30.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 53.2257, + 13374.407, + 2073.4633 + ], + "actual_end_pos": [ + 53.2257, + 13374.407, + 2073.4633 + ], + "actual_end_rot": [ + -30.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 53.2257, + 13374.407, + 2073.4633 + ], + "start_rot": [ + -30.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 53.2257, + 13374.407, + 2073.4633 + ], + "actual_end_pos": [ + 53.2257, + 13374.407, + 2073.4633 + ], + "actual_end_rot": [ + -30.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 53.2257, + 13374.407, + 2073.4633 + ], + "start_rot": [ + -30.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 123.9364, + 13445.1176, + 2073.4633 + ], + "actual_end_pos": [ + 123.9364, + 13445.1176, + 2073.4633 + ], + "actual_end_rot": [ + -30.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 123.9364, + 13445.1176, + 2073.4633 + ], + "start_rot": [ + -30.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 185.1736, + 13383.8804, + 2023.4633 + ], + "actual_end_pos": [ + 185.1736, + 13383.8804, + 2023.4633 + ], + "actual_end_rot": [ + -30.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 185.1736, + 13383.8804, + 2023.4633 + ], + "start_rot": [ + -30.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 255.8843, + 13454.5911, + 2023.4633 + ], + "actual_end_pos": [ + 255.8843, + 13454.5911, + 2023.4633 + ], + "actual_end_rot": [ + -30.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 255.8843, + 13454.5911, + 2023.4633 + ], + "start_rot": [ + -30.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 317.1216, + 13393.3538, + 1973.4633 + ], + "actual_end_pos": [ + 317.1216, + 13393.3538, + 1973.4633 + ], + "actual_end_rot": [ + -30.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 317.1216, + 13393.3538, + 1973.4633 + ], + "start_rot": [ + -30.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 317.1216, + 13393.3538, + 1973.4633 + ], + "actual_end_pos": [ + 317.1216, + 13393.3538, + 1973.4633 + ], + "actual_end_rot": [ + -30.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 317.1216, + 13393.3538, + 1973.4633 + ], + "start_rot": [ + -30.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 267.1216, + 13306.7513, + 1973.4633 + ], + "actual_end_pos": [ + 267.1216, + 13306.7513, + 1973.4633 + ], + "actual_end_rot": [ + -30.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 267.1216, + 13306.7513, + 1973.4633 + ], + "start_rot": [ + -30.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 267.1216, + 13306.7513, + 1973.4633 + ], + "actual_end_pos": [ + 267.1216, + 13306.7513, + 1973.4633 + ], + "actual_end_rot": [ + -30.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 267.1216, + 13306.7513, + 1973.4633 + ], + "start_rot": [ + -30.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 350.7732, + 13284.3369, + 1923.4633 + ], + "actual_end_pos": [ + 350.7732, + 13284.3369, + 1923.4633 + ], + "actual_end_rot": [ + -30.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 350.7732, + 13284.3369, + 1923.4633 + ], + "start_rot": [ + -30.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 350.7732, + 13284.3369, + 1923.4633 + ], + "actual_end_pos": [ + 350.7732, + 13284.3369, + 1923.4633 + ], + "actual_end_rot": [ + -37.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 350.7732, + 13284.3369, + 1923.4633 + ], + "start_rot": [ + -37.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 350.7732, + 13284.3369, + 1923.4633 + ], + "actual_end_pos": [ + 350.7732, + 13284.3369, + 1923.4633 + ], + "actual_end_rot": [ + -37.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 350.7732, + 13284.3369, + 1923.4633 + ], + "start_rot": [ + -37.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 350.7732, + 13284.3369, + 1923.4633 + ], + "actual_end_pos": [ + 350.7732, + 13284.3369, + 1923.4633 + ], + "actual_end_rot": [ + -37.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 350.7732, + 13284.3369, + 1923.4633 + ], + "start_rot": [ + -37.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 350.7732, + 13284.3369, + 1923.4633 + ], + "actual_end_pos": [ + 350.7732, + 13284.3369, + 1923.4633 + ], + "actual_end_rot": [ + -30.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 350.7732, + 13284.3369, + 1923.4633 + ], + "start_rot": [ + -30.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 350.7732, + 13284.3369, + 1923.4633 + ], + "actual_end_pos": [ + 350.7732, + 13284.3369, + 1923.4633 + ], + "actual_end_rot": [ + -22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 350.7732, + 13284.3369, + 1923.4633 + ], + "start_rot": [ + -22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 350.7732, + 13284.3369, + 1923.4633 + ], + "actual_end_pos": [ + 350.7732, + 13284.3369, + 1923.4633 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 350.7732, + 13284.3369, + 1923.4633 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 282.4719, + 13352.6382, + 1949.3452 + ], + "actual_end_pos": [ + 282.4719, + 13352.6382, + 1949.3452 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 282.4719, + 13352.6382, + 1949.3452 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 214.1706, + 13420.9394, + 1975.2271 + ], + "actual_end_pos": [ + 214.1706, + 13420.9394, + 1975.2271 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 214.1706, + 13420.9394, + 1975.2271 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 145.8694, + 13489.2407, + 2001.109 + ], + "actual_end_pos": [ + 145.8694, + 13489.2407, + 2001.109 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 145.8694, + 13489.2407, + 2001.109 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 77.5681, + 13557.542, + 2026.9909 + ], + "actual_end_pos": [ + 77.5681, + 13557.542, + 2026.9909 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 77.5681, + 13557.542, + 2026.9909 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 9.2668, + 13625.8433, + 2052.8728 + ], + "actual_end_pos": [ + 9.2668, + 13625.8433, + 2052.8728 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 9.2668, + 13625.8433, + 2052.8728 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -59.0344, + 13694.1445, + 2078.7547 + ], + "actual_end_pos": [ + -59.0344, + 13694.1445, + 2078.7547 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -59.0344, + 13694.1445, + 2078.7547 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -129.7451, + 13623.4339, + 2078.7547 + ], + "actual_end_pos": [ + -129.7451, + 13623.4339, + 2078.7547 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -129.7451, + 13623.4339, + 2078.7547 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -129.7451, + 13623.4339, + 2078.7547 + ], + "actual_end_pos": [ + -129.7451, + 13623.4339, + 2078.7547 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -129.7451, + 13623.4339, + 2078.7547 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -129.7451, + 13623.4339, + 2078.7547 + ], + "actual_end_pos": [ + -129.7451, + 13623.4339, + 2078.7547 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -129.7451, + 13623.4339, + 2078.7547 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -129.7451, + 13623.4339, + 2078.7547 + ], + "actual_end_pos": [ + -129.7451, + 13623.4339, + 2078.7547 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -129.7451, + 13623.4339, + 2078.7547 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -129.7451, + 13623.4339, + 2078.7547 + ], + "actual_end_pos": [ + -129.7451, + 13623.4339, + 2078.7547 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_003937_meta.json b/loop_easy/run_20260410_184831__traj_003937_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..df7f025cf57d8adf182d0d070e9aee74891fbae2 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_003937_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3937, + "episode_id": 0, + "state_id": 2968, + "sample_index": 2968, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -180.0, + 14240.0, + 2150.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_left", + "turn_left", + "look_up", + "move_forward", + "turn_left", + "look_up", + "move_forward", + "move_right", + "look_up", + "move_forward", + "move_right", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "no_op", + "move_forward", + "look_down", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -180.0, + 14240.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -180.0, + 14240.0, + 2150.0 + ], + "actual_end_pos": [ + -180.0, + 14240.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -180.0, + 14240.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -205.8819, + 14143.4074, + 2150.0 + ], + "actual_end_pos": [ + -205.8819, + 14143.4074, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -205.8819, + 14143.4074, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -205.8819, + 14143.4074, + 2150.0 + ], + "actual_end_pos": [ + -205.8819, + 14143.4074, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -205.8819, + 14143.4074, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -205.8819, + 14143.4074, + 2150.0 + ], + "actual_end_pos": [ + -205.8819, + 14143.4074, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -205.8819, + 14143.4074, + 2150.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -120.0203, + 14093.8352, + 2163.0526 + ], + "actual_end_pos": [ + -120.0203, + 14093.8352, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -120.0203, + 14093.8352, + 2163.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -120.0203, + 14093.8352, + 2163.0526 + ], + "actual_end_pos": [ + -120.0203, + 14093.8352, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -120.0203, + 14093.8352, + 2163.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + -120.0203, + 14093.8352, + 2163.0526 + ], + "actual_end_pos": [ + -120.0203, + 14093.8352, + 2163.0526 + ], + "actual_end_rot": [ + 15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -120.0203, + 14093.8352, + 2163.0526 + ], + "start_rot": [ + 15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -51.719, + 14025.5339, + 2188.9345 + ], + "actual_end_pos": [ + -51.719, + 14025.5339, + 2188.9345 + ], + "actual_end_rot": [ + 15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -51.719, + 14025.5339, + 2188.9345 + ], + "start_rot": [ + 15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 18.9917, + 14096.2446, + 2188.9345 + ], + "actual_end_pos": [ + 18.9917, + 14096.2446, + 2188.9345 + ], + "actual_end_rot": [ + 15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 18.9917, + 14096.2446, + 2188.9345 + ], + "start_rot": [ + 15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 18.9917, + 14096.2446, + 2188.9345 + ], + "actual_end_pos": [ + 18.9917, + 14096.2446, + 2188.9345 + ], + "actual_end_rot": [ + 22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 18.9917, + 14096.2446, + 2188.9345 + ], + "start_rot": [ + 22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 84.3198, + 14030.9164, + 2227.2029 + ], + "actual_end_pos": [ + 84.3198, + 14030.9164, + 2227.2029 + ], + "actual_end_rot": [ + 22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 84.3198, + 14030.9164, + 2227.2029 + ], + "start_rot": [ + 22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 155.0305, + 14101.6271, + 2227.2029 + ], + "actual_end_pos": [ + 155.0305, + 14101.6271, + 2227.2029 + ], + "actual_end_rot": [ + 22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 155.0305, + 14101.6271, + 2227.2029 + ], + "start_rot": [ + 22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 225.7412, + 14172.3378, + 2227.2029 + ], + "actual_end_pos": [ + 225.7412, + 14172.3378, + 2227.2029 + ], + "actual_end_rot": [ + 22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 225.7412, + 14172.3378, + 2227.2029 + ], + "start_rot": [ + 22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 291.0693, + 14107.0096, + 2265.4712 + ], + "actual_end_pos": [ + 291.0693, + 14107.0096, + 2265.4712 + ], + "actual_end_rot": [ + 22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 291.0693, + 14107.0096, + 2265.4712 + ], + "start_rot": [ + 22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 356.3975, + 14041.6815, + 2303.7396 + ], + "actual_end_pos": [ + 356.3975, + 14041.6815, + 2303.7396 + ], + "actual_end_rot": [ + 22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 356.3975, + 14041.6815, + 2303.7396 + ], + "start_rot": [ + 22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 421.7256, + 13976.3533, + 2342.0079 + ], + "actual_end_pos": [ + 421.7256, + 13976.3533, + 2342.0079 + ], + "actual_end_rot": [ + 22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 421.7256, + 13976.3533, + 2342.0079 + ], + "start_rot": [ + 22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 421.7256, + 13976.3533, + 2342.0079 + ], + "actual_end_pos": [ + 421.7256, + 13976.3533, + 2342.0079 + ], + "actual_end_rot": [ + 22.5, + -30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 421.7256, + 13976.3533, + 2342.0079 + ], + "start_rot": [ + 22.5, + -30.0, + -0.0 + ], + "expected_end_pos": [ + 421.7256, + 13976.3533, + 2342.0079 + ], + "actual_end_pos": [ + 421.7256, + 13976.3533, + 2342.0079 + ], + "actual_end_rot": [ + 22.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 421.7256, + 13976.3533, + 2342.0079 + ], + "start_rot": [ + 22.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 510.9655, + 13952.4416, + 2380.2762 + ], + "actual_end_pos": [ + 510.9655, + 13952.4416, + 2380.2762 + ], + "actual_end_rot": [ + 22.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 510.9655, + 13952.4416, + 2380.2762 + ], + "start_rot": [ + 22.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 510.9655, + 13952.4416, + 2380.2762 + ], + "actual_end_pos": [ + 510.9655, + 13952.4416, + 2380.2762 + ], + "actual_end_rot": [ + 22.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 510.9655, + 13952.4416, + 2380.2762 + ], + "start_rot": [ + 22.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 510.9655, + 13952.4416, + 2380.2762 + ], + "actual_end_pos": [ + 510.9655, + 13952.4416, + 2380.2762 + ], + "actual_end_rot": [ + 22.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 510.9655, + 13952.4416, + 2380.2762 + ], + "start_rot": [ + 22.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 603.3535, + 13952.4416, + 2418.5446 + ], + "actual_end_pos": [ + 603.3535, + 13952.4416, + 2418.5446 + ], + "actual_end_rot": [ + 22.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 603.3535, + 13952.4416, + 2418.5446 + ], + "start_rot": [ + 22.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 603.3535, + 13952.4416, + 2418.5446 + ], + "actual_end_pos": [ + 603.3535, + 13952.4416, + 2418.5446 + ], + "actual_end_rot": [ + 15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 603.3535, + 13952.4416, + 2418.5446 + ], + "start_rot": [ + 15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 603.3535, + 13952.4416, + 2418.5446 + ], + "actual_end_pos": [ + 603.3535, + 13952.4416, + 2418.5446 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 603.3535, + 13952.4416, + 2418.5446 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 504.209, + 13952.4416, + 2405.492 + ], + "actual_end_pos": [ + 504.209, + 13952.4416, + 2405.492 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 504.209, + 13952.4416, + 2405.492 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 405.0645, + 13952.4416, + 2392.4393 + ], + "actual_end_pos": [ + 405.0645, + 13952.4416, + 2392.4393 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 405.0645, + 13952.4416, + 2392.4393 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 305.92, + 13952.4416, + 2379.3867 + ], + "actual_end_pos": [ + 305.92, + 13952.4416, + 2379.3867 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 305.92, + 13952.4416, + 2379.3867 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 206.7756, + 13952.4416, + 2366.3341 + ], + "actual_end_pos": [ + 206.7756, + 13952.4416, + 2366.3341 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 206.7756, + 13952.4416, + 2366.3341 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 107.6311, + 13952.4416, + 2353.2815 + ], + "actual_end_pos": [ + 107.6311, + 13952.4416, + 2353.2815 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 107.6311, + 13952.4416, + 2353.2815 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 8.4866, + 13952.4416, + 2340.2289 + ], + "actual_end_pos": [ + 8.4866, + 13952.4416, + 2340.2289 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 8.4866, + 13952.4416, + 2340.2289 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -90.6579, + 13952.4416, + 2327.1762 + ], + "actual_end_pos": [ + -90.6579, + 13952.4416, + 2327.1762 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -90.6579, + 13952.4416, + 2327.1762 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -189.8024, + 13952.4416, + 2314.1236 + ], + "actual_end_pos": [ + -189.8024, + 13952.4416, + 2314.1236 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -189.8024, + 13952.4416, + 2314.1236 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -189.8024, + 14052.4416, + 2314.1236 + ], + "actual_end_pos": [ + -189.8024, + 14052.4416, + 2314.1236 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -189.8024, + 14052.4416, + 2314.1236 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -189.8024, + 14152.4416, + 2314.1236 + ], + "actual_end_pos": [ + -189.8024, + 14152.4416, + 2314.1236 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -189.8024, + 14152.4416, + 2314.1236 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -189.8024, + 14252.4416, + 2314.1236 + ], + "actual_end_pos": [ + -189.8024, + 14252.4416, + 2314.1236 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -189.8024, + 14252.4416, + 2314.1236 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -189.8024, + 14252.4416, + 2314.1236 + ], + "actual_end_pos": [ + -189.8024, + 14252.4416, + 2314.1236 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -189.8024, + 14252.4416, + 2314.1236 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -189.8024, + 14252.4416, + 2314.1236 + ], + "actual_end_pos": [ + -189.8024, + 14252.4416, + 2314.1236 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -189.8024, + 14252.4416, + 2314.1236 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -189.8024, + 14252.4416, + 2314.1236 + ], + "actual_end_pos": [ + -189.8024, + 14252.4416, + 2314.1236 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -189.8024, + 14252.4416, + 2314.1236 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -189.8024, + 14252.4416, + 2314.1236 + ], + "actual_end_pos": [ + -189.8024, + 14252.4416, + 2314.1236 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -189.8024, + 14252.4416, + 2314.1236 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -189.8024, + 14252.4416, + 2314.1236 + ], + "actual_end_pos": [ + -189.8024, + 14252.4416, + 2314.1236 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_003990_meta.json b/loop_easy/run_20260410_184831__traj_003990_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..960fe81c16146553498ea7daf05dd66e23cab73a --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_003990_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3990, + "episode_id": 0, + "state_id": 3008, + "sample_index": 3008, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -180.0, + 16040.0, + 2150.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "look_up", + "turn_left", + "turn_left", + "move_right", + "turn_right", + "move_forward", + "move_forward", + "turn_left", + "move_left", + "move_forward", + "move_backward", + "move_backward", + "turn_left", + "look_down", + "no_op", + "move_right", + "turn_right", + "move_backward", + "turn_left", + "move_backward", + "move_right", + "no_op", + "move_right", + "no_op", + "move_forward", + "look_up", + "move_right", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "look_down", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -180.0, + 16040.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -180.0, + 16040.0, + 2150.0 + ], + "actual_end_pos": [ + -180.0, + 16040.0, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -180.0, + 16040.0, + 2150.0 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -180.0, + 16040.0, + 2150.0 + ], + "actual_end_pos": [ + -180.0, + 16040.0, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -180.0, + 16040.0, + 2150.0 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -180.0, + 16040.0, + 2150.0 + ], + "actual_end_pos": [ + -180.0, + 16040.0, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -180.0, + 16040.0, + 2150.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -130.0, + 16126.6025, + 2150.0 + ], + "actual_end_pos": [ + -130.0, + 16126.6025, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -130.0, + 16126.6025, + 2150.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -130.0, + 16126.6025, + 2150.0 + ], + "actual_end_pos": [ + -130.0, + 16126.6025, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -130.0, + 16126.6025, + 2150.0 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -34.2338, + 16100.9421, + 2163.0526 + ], + "actual_end_pos": [ + -34.2338, + 16100.9421, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -34.2338, + 16100.9421, + 2163.0526 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 61.5324, + 16075.2816, + 2176.1052 + ], + "actual_end_pos": [ + 61.5324, + 16075.2816, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 61.5324, + 16075.2816, + 2176.1052 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 61.5324, + 16075.2816, + 2176.1052 + ], + "actual_end_pos": [ + 61.5324, + 16075.2816, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 61.5324, + 16075.2816, + 2176.1052 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 11.5324, + 15988.679, + 2176.1052 + ], + "actual_end_pos": [ + 11.5324, + 15988.679, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 11.5324, + 15988.679, + 2176.1052 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 97.3941, + 15939.1068, + 2189.1579 + ], + "actual_end_pos": [ + 97.3941, + 15939.1068, + 2189.1579 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 97.3941, + 15939.1068, + 2189.1579 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 11.5324, + 15988.679, + 2176.1052 + ], + "actual_end_pos": [ + 11.5324, + 15988.679, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 11.5324, + 15988.679, + 2176.1052 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -74.3292, + 16038.2513, + 2163.0526 + ], + "actual_end_pos": [ + -74.3292, + 16038.2513, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -74.3292, + 16038.2513, + 2163.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -74.3292, + 16038.2513, + 2163.0526 + ], + "actual_end_pos": [ + -74.3292, + 16038.2513, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -74.3292, + 16038.2513, + 2163.0526 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -74.3292, + 16038.2513, + 2163.0526 + ], + "actual_end_pos": [ + -74.3292, + 16038.2513, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -74.3292, + 16038.2513, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -74.3292, + 16038.2513, + 2163.0526 + ], + "actual_end_pos": [ + -74.3292, + 16038.2513, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -74.3292, + 16038.2513, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3.6185, + 16108.962, + 2163.0526 + ], + "actual_end_pos": [ + -3.6185, + 16108.962, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3.6185, + 16108.962, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -3.6185, + 16108.962, + 2163.0526 + ], + "actual_end_pos": [ + -3.6185, + 16108.962, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3.6185, + 16108.962, + 2163.0526 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -90.2211, + 16158.962, + 2163.0526 + ], + "actual_end_pos": [ + -90.2211, + 16158.962, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -90.2211, + 16158.962, + 2163.0526 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -90.2211, + 16158.962, + 2163.0526 + ], + "actual_end_pos": [ + -90.2211, + 16158.962, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -90.2211, + 16158.962, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -160.9317, + 16229.6726, + 2163.0526 + ], + "actual_end_pos": [ + -160.9317, + 16229.6726, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -160.9317, + 16229.6726, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -90.2211, + 16300.3833, + 2163.0526 + ], + "actual_end_pos": [ + -90.2211, + 16300.3833, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -90.2211, + 16300.3833, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -90.2211, + 16300.3833, + 2163.0526 + ], + "actual_end_pos": [ + -90.2211, + 16300.3833, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -90.2211, + 16300.3833, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -19.5104, + 16371.094, + 2163.0526 + ], + "actual_end_pos": [ + -19.5104, + 16371.094, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -19.5104, + 16371.094, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -19.5104, + 16371.094, + 2163.0526 + ], + "actual_end_pos": [ + -19.5104, + 16371.094, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -19.5104, + 16371.094, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 51.2003, + 16300.3833, + 2163.0526 + ], + "actual_end_pos": [ + 51.2003, + 16300.3833, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 51.2003, + 16300.3833, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 51.2003, + 16300.3833, + 2163.0526 + ], + "actual_end_pos": [ + 51.2003, + 16300.3833, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 51.2003, + 16300.3833, + 2163.0526 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 121.911, + 16371.094, + 2163.0526 + ], + "actual_end_pos": [ + 121.911, + 16371.094, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 121.911, + 16371.094, + 2163.0526 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 51.8052, + 16441.1997, + 2150.0 + ], + "actual_end_pos": [ + 51.8052, + 16441.1997, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 51.8052, + 16441.1997, + 2150.0 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 51.8052, + 16441.1997, + 2150.0 + ], + "actual_end_pos": [ + 51.8052, + 16441.1997, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 51.8052, + 16441.1997, + 2150.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 51.8052, + 16441.1997, + 2150.0 + ], + "actual_end_pos": [ + 51.8052, + 16441.1997, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 51.8052, + 16441.1997, + 2150.0 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 51.8052, + 16441.1997, + 2150.0 + ], + "actual_end_pos": [ + 51.8052, + 16441.1997, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 51.8052, + 16441.1997, + 2150.0 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 51.8052, + 16441.1997, + 2150.0 + ], + "actual_end_pos": [ + 51.8052, + 16441.1997, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 51.8052, + 16441.1997, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -48.1948, + 16441.1997, + 2150.0 + ], + "actual_end_pos": [ + -48.1948, + 16441.1997, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -48.1948, + 16441.1997, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -148.1948, + 16441.1997, + 2150.0 + ], + "actual_end_pos": [ + -148.1948, + 16441.1997, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -148.1948, + 16441.1997, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -148.1948, + 16341.1997, + 2150.0 + ], + "actual_end_pos": [ + -148.1948, + 16341.1997, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -148.1948, + 16341.1997, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -148.1948, + 16241.1997, + 2150.0 + ], + "actual_end_pos": [ + -148.1948, + 16241.1997, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -148.1948, + 16241.1997, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -148.1948, + 16141.1997, + 2150.0 + ], + "actual_end_pos": [ + -148.1948, + 16141.1997, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -148.1948, + 16141.1997, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -148.1948, + 16041.1997, + 2150.0 + ], + "actual_end_pos": [ + -148.1948, + 16041.1997, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -148.1948, + 16041.1997, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -148.1948, + 16041.1997, + 2150.0 + ], + "actual_end_pos": [ + -148.1948, + 16041.1997, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -148.1948, + 16041.1997, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -148.1948, + 16041.1997, + 2150.0 + ], + "actual_end_pos": [ + -148.1948, + 16041.1997, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004010_meta.json b/loop_easy/run_20260410_184831__traj_004010_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..618ff6e593b127c6a9de43bc46b1dd17cc9b2b5e --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004010_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4010, + "episode_id": 0, + "state_id": 3021, + "sample_index": 3021, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -180.0, + 16340.0, + 2150.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "look_down", + "move_forward", + "move_forward", + "no_op", + "look_down", + "move_right", + "turn_right", + "move_left", + "turn_right", + "move_forward", + "look_up", + "move_forward", + "turn_left", + "move_backward", + "look_up", + "move_forward", + "move_right", + "move_backward", + "turn_right", + "look_up", + "move_left", + "move_forward", + "no_op", + "move_right", + "turn_right", + "move_left", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -180.0, + 16340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -109.2893, + 16410.7107, + 2150.0 + ], + "actual_end_pos": [ + -109.2893, + 16410.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -109.2893, + 16410.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -109.2893, + 16410.7107, + 2150.0 + ], + "actual_end_pos": [ + -109.2893, + 16410.7107, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -109.2893, + 16410.7107, + 2150.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -179.3951, + 16340.6049, + 2136.9474 + ], + "actual_end_pos": [ + -179.3951, + 16340.6049, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -179.3951, + 16340.6049, + 2136.9474 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -249.5008, + 16270.4992, + 2123.8948 + ], + "actual_end_pos": [ + -249.5008, + 16270.4992, + 2123.8948 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -249.5008, + 16270.4992, + 2123.8948 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -249.5008, + 16270.4992, + 2123.8948 + ], + "actual_end_pos": [ + -249.5008, + 16270.4992, + 2123.8948 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -249.5008, + 16270.4992, + 2123.8948 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -249.5008, + 16270.4992, + 2123.8948 + ], + "actual_end_pos": [ + -249.5008, + 16270.4992, + 2123.8948 + ], + "actual_end_rot": [ + -15.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -249.5008, + 16270.4992, + 2123.8948 + ], + "start_rot": [ + -15.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + -178.7901, + 16199.7885, + 2123.8948 + ], + "actual_end_pos": [ + -178.7901, + 16199.7885, + 2123.8948 + ], + "actual_end_rot": [ + -15.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -178.7901, + 16199.7885, + 2123.8948 + ], + "start_rot": [ + -15.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + -178.7901, + 16199.7885, + 2123.8948 + ], + "actual_end_pos": [ + -178.7901, + 16199.7885, + 2123.8948 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -178.7901, + 16199.7885, + 2123.8948 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -265.3927, + 16249.7885, + 2123.8948 + ], + "actual_end_pos": [ + -265.3927, + 16249.7885, + 2123.8948 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -265.3927, + 16249.7885, + 2123.8948 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -265.3927, + 16249.7885, + 2123.8948 + ], + "actual_end_pos": [ + -265.3927, + 16249.7885, + 2123.8948 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -265.3927, + 16249.7885, + 2123.8948 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -290.3927, + 16156.4873, + 2098.0129 + ], + "actual_end_pos": [ + -290.3927, + 16156.4873, + 2098.0129 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -290.3927, + 16156.4873, + 2098.0129 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -290.3927, + 16156.4873, + 2098.0129 + ], + "actual_end_pos": [ + -290.3927, + 16156.4873, + 2098.0129 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -290.3927, + 16156.4873, + 2098.0129 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -316.0531, + 16060.721, + 2084.9602 + ], + "actual_end_pos": [ + -316.0531, + 16060.721, + 2084.9602 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -316.0531, + 16060.721, + 2084.9602 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -316.0531, + 16060.721, + 2084.9602 + ], + "actual_end_pos": [ + -316.0531, + 16060.721, + 2084.9602 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -316.0531, + 16060.721, + 2084.9602 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + -266.4809, + 16146.5827, + 2098.0129 + ], + "actual_end_pos": [ + -266.4809, + 16146.5827, + 2098.0129 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -266.4809, + 16146.5827, + 2098.0129 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + -266.4809, + 16146.5827, + 2098.0129 + ], + "actual_end_pos": [ + -266.4809, + 16146.5827, + 2098.0129 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -266.4809, + 16146.5827, + 2098.0129 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + -316.4809, + 16059.9801, + 2098.0129 + ], + "actual_end_pos": [ + -316.4809, + 16059.9801, + 2098.0129 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -316.4809, + 16059.9801, + 2098.0129 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + -229.8784, + 16009.9801, + 2098.0129 + ], + "actual_end_pos": [ + -229.8784, + 16009.9801, + 2098.0129 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -229.8784, + 16009.9801, + 2098.0129 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + -179.8784, + 16096.5827, + 2098.0129 + ], + "actual_end_pos": [ + -179.8784, + 16096.5827, + 2098.0129 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -179.8784, + 16096.5827, + 2098.0129 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + -179.8784, + 16096.5827, + 2098.0129 + ], + "actual_end_pos": [ + -179.8784, + 16096.5827, + 2098.0129 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -179.8784, + 16096.5827, + 2098.0129 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -179.8784, + 16096.5827, + 2098.0129 + ], + "actual_end_pos": [ + -179.8784, + 16096.5827, + 2098.0129 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -179.8784, + 16096.5827, + 2098.0129 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -276.4709, + 16122.4646, + 2098.0129 + ], + "actual_end_pos": [ + -276.4709, + 16122.4646, + 2098.0129 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -276.4709, + 16122.4646, + 2098.0129 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -302.1314, + 16026.6984, + 2111.0655 + ], + "actual_end_pos": [ + -302.1314, + 16026.6984, + 2111.0655 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -302.1314, + 16026.6984, + 2111.0655 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -302.1314, + 16026.6984, + 2111.0655 + ], + "actual_end_pos": [ + -302.1314, + 16026.6984, + 2111.0655 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -302.1314, + 16026.6984, + 2111.0655 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -205.5388, + 16000.8165, + 2111.0655 + ], + "actual_end_pos": [ + -205.5388, + 16000.8165, + 2111.0655 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -205.5388, + 16000.8165, + 2111.0655 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -205.5388, + 16000.8165, + 2111.0655 + ], + "actual_end_pos": [ + -205.5388, + 16000.8165, + 2111.0655 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -205.5388, + 16000.8165, + 2111.0655 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -305.5388, + 16000.8165, + 2111.0655 + ], + "actual_end_pos": [ + -305.5388, + 16000.8165, + 2111.0655 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -305.5388, + 16000.8165, + 2111.0655 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -305.5388, + 15901.672, + 2124.1181 + ], + "actual_end_pos": [ + -305.5388, + 15901.672, + 2124.1181 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -305.5388, + 15901.672, + 2124.1181 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -305.5388, + 15901.672, + 2124.1181 + ], + "actual_end_pos": [ + -305.5388, + 15901.672, + 2124.1181 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -305.5388, + 15901.672, + 2124.1181 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -305.5388, + 15901.672, + 2124.1181 + ], + "actual_end_pos": [ + -305.5388, + 15901.672, + 2124.1181 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -305.5388, + 15901.672, + 2124.1181 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -305.5388, + 15901.672, + 2124.1181 + ], + "actual_end_pos": [ + -305.5388, + 15901.672, + 2124.1181 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -305.5388, + 15901.672, + 2124.1181 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -305.5388, + 15901.672, + 2124.1181 + ], + "actual_end_pos": [ + -305.5388, + 15901.672, + 2124.1181 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -305.5388, + 15901.672, + 2124.1181 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -234.8282, + 15972.3826, + 2124.1181 + ], + "actual_end_pos": [ + -234.8282, + 15972.3826, + 2124.1181 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -234.8282, + 15972.3826, + 2124.1181 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -164.1175, + 16043.0933, + 2124.1181 + ], + "actual_end_pos": [ + -164.1175, + 16043.0933, + 2124.1181 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -164.1175, + 16043.0933, + 2124.1181 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -93.4068, + 16113.804, + 2124.1181 + ], + "actual_end_pos": [ + -93.4068, + 16113.804, + 2124.1181 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -93.4068, + 16113.804, + 2124.1181 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -22.6961, + 16184.5147, + 2124.1181 + ], + "actual_end_pos": [ + -22.6961, + 16184.5147, + 2124.1181 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -22.6961, + 16184.5147, + 2124.1181 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -93.4068, + 16255.2254, + 2124.1181 + ], + "actual_end_pos": [ + -93.4068, + 16255.2254, + 2124.1181 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -93.4068, + 16255.2254, + 2124.1181 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -164.1175, + 16325.936, + 2124.1181 + ], + "actual_end_pos": [ + -164.1175, + 16325.936, + 2124.1181 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -164.1175, + 16325.936, + 2124.1181 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -164.1175, + 16325.936, + 2124.1181 + ], + "actual_end_pos": [ + -164.1175, + 16325.936, + 2124.1181 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -164.1175, + 16325.936, + 2124.1181 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -164.1175, + 16325.936, + 2124.1181 + ], + "actual_end_pos": [ + -164.1175, + 16325.936, + 2124.1181 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004013_meta.json b/loop_easy/run_20260410_184831__traj_004013_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0252aacf9e5c1c72f8cfa22f08009ee8f4578e7b --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004013_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4013, + "episode_id": 0, + "state_id": 3023, + "sample_index": 3023, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -180.0, + 16340.0, + 2150.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "turn_left", + "turn_left", + "move_forward", + "move_left", + "turn_right", + "move_forward", + "move_forward", + "turn_left", + "look_up", + "look_up", + "move_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "look_down", + "move_forward", + "move_left", + "look_down", + "move_right", + "move_forward", + "look_down", + "turn_right", + "look_up", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -180.0, + 16340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -109.2893, + 16410.7107, + 2150.0 + ], + "actual_end_pos": [ + -109.2893, + 16410.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -109.2893, + 16410.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -109.2893, + 16410.7107, + 2150.0 + ], + "actual_end_pos": [ + -109.2893, + 16410.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -109.2893, + 16410.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -109.2893, + 16410.7107, + 2150.0 + ], + "actual_end_pos": [ + -109.2893, + 16410.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -109.2893, + 16410.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -83.4074, + 16314.1181, + 2150.0 + ], + "actual_end_pos": [ + -83.4074, + 16314.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -83.4074, + 16314.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -180.0, + 16288.2362, + 2150.0 + ], + "actual_end_pos": [ + -180.0, + 16288.2362, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -180.0, + 16288.2362, + 2150.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -180.0, + 16288.2362, + 2150.0 + ], + "actual_end_pos": [ + -180.0, + 16288.2362, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -180.0, + 16288.2362, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -130.0, + 16201.6337, + 2150.0 + ], + "actual_end_pos": [ + -130.0, + 16201.6337, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -130.0, + 16201.6337, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -80.0, + 16115.0311, + 2150.0 + ], + "actual_end_pos": [ + -80.0, + 16115.0311, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -80.0, + 16115.0311, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -80.0, + 16115.0311, + 2150.0 + ], + "actual_end_pos": [ + -80.0, + 16115.0311, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -80.0, + 16115.0311, + 2150.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -80.0, + 16115.0311, + 2150.0 + ], + "actual_end_pos": [ + -80.0, + 16115.0311, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -80.0, + 16115.0311, + 2150.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -80.0, + 16115.0311, + 2150.0 + ], + "actual_end_pos": [ + -80.0, + 16115.0311, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -80.0, + 16115.0311, + 2150.0 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 16.5926, + 16140.913, + 2150.0 + ], + "actual_end_pos": [ + 16.5926, + 16140.913, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 16.5926, + 16140.913, + 2150.0 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 16.5926, + 16140.913, + 2150.0 + ], + "actual_end_pos": [ + 16.5926, + 16140.913, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 16.5926, + 16140.913, + 2150.0 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -31.7037, + 16224.5646, + 2124.1181 + ], + "actual_end_pos": [ + -31.7037, + 16224.5646, + 2124.1181 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -31.7037, + 16224.5646, + 2124.1181 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -80.0, + 16308.2163, + 2098.2362 + ], + "actual_end_pos": [ + -80.0, + 16308.2163, + 2098.2362 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -80.0, + 16308.2163, + 2098.2362 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -128.2963, + 16391.8679, + 2072.3543 + ], + "actual_end_pos": [ + -128.2963, + 16391.8679, + 2072.3543 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -128.2963, + 16391.8679, + 2072.3543 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -176.5926, + 16475.5195, + 2046.4724 + ], + "actual_end_pos": [ + -176.5926, + 16475.5195, + 2046.4724 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -176.5926, + 16475.5195, + 2046.4724 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -176.5926, + 16475.5195, + 2046.4724 + ], + "actual_end_pos": [ + -176.5926, + 16475.5195, + 2046.4724 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -176.5926, + 16475.5195, + 2046.4724 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -127.0203, + 16389.6579, + 2059.525 + ], + "actual_end_pos": [ + -127.0203, + 16389.6579, + 2059.525 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -127.0203, + 16389.6579, + 2059.525 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -213.6229, + 16339.6579, + 2059.525 + ], + "actual_end_pos": [ + -213.6229, + 16339.6579, + 2059.525 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -213.6229, + 16339.6579, + 2059.525 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -213.6229, + 16339.6579, + 2059.525 + ], + "actual_end_pos": [ + -213.6229, + 16339.6579, + 2059.525 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -213.6229, + 16339.6579, + 2059.525 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -127.0203, + 16389.6579, + 2059.525 + ], + "actual_end_pos": [ + -127.0203, + 16389.6579, + 2059.525 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -127.0203, + 16389.6579, + 2059.525 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -77.0203, + 16303.0554, + 2059.525 + ], + "actual_end_pos": [ + -77.0203, + 16303.0554, + 2059.525 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -77.0203, + 16303.0554, + 2059.525 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -77.0203, + 16303.0554, + 2059.525 + ], + "actual_end_pos": [ + -77.0203, + 16303.0554, + 2059.525 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -77.0203, + 16303.0554, + 2059.525 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -77.0203, + 16303.0554, + 2059.525 + ], + "actual_end_pos": [ + -77.0203, + 16303.0554, + 2059.525 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -77.0203, + 16303.0554, + 2059.525 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -77.0203, + 16303.0554, + 2059.525 + ], + "actual_end_pos": [ + -77.0203, + 16303.0554, + 2059.525 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -77.0203, + 16303.0554, + 2059.525 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_pos": [ + -147.731, + 16373.766, + 2059.525 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004038_meta.json b/loop_easy/run_20260410_184831__traj_004038_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4ffad86ce085f7917d8f5d51996daa6f250829f5 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004038_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4038, + "episode_id": 0, + "state_id": 3041, + "sample_index": 3041, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 120.0, + 7040.0, + 2150.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "no_op", + "move_backward", + "no_op", + "look_down", + "move_backward", + "look_up", + "move_right", + "move_forward", + "move_right", + "move_backward", + "look_down", + "move_left", + "move_left", + "look_down", + "move_left", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "look_down", + "move_left", + "look_up", + "look_up", + "move_backward", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 120.0, + 7040.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 7040.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 7040.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 120.0, + 7040.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 7040.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 7040.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 120.0, + 7040.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 33.3975, + 6990.0, + 2150.0 + ], + "actual_end_pos": [ + 33.3975, + 6990.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 33.3975, + 6990.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 33.3975, + 6990.0, + 2150.0 + ], + "actual_end_pos": [ + 33.3975, + 6990.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 33.3975, + 6990.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 33.3975, + 6990.0, + 2150.0 + ], + "actual_end_pos": [ + 33.3975, + 6990.0, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 33.3975, + 6990.0, + 2150.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -52.4642, + 6940.4278, + 2163.0526 + ], + "actual_end_pos": [ + -52.4642, + 6940.4278, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -52.4642, + 6940.4278, + 2163.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -52.4642, + 6940.4278, + 2163.0526 + ], + "actual_end_pos": [ + -52.4642, + 6940.4278, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -52.4642, + 6940.4278, + 2163.0526 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -102.4642, + 7027.0303, + 2163.0526 + ], + "actual_end_pos": [ + -102.4642, + 7027.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -102.4642, + 7027.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -15.8616, + 7077.0303, + 2163.0526 + ], + "actual_end_pos": [ + -15.8616, + 7077.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -15.8616, + 7077.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -65.8616, + 7163.6328, + 2163.0526 + ], + "actual_end_pos": [ + -65.8616, + 7163.6328, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -65.8616, + 7163.6328, + 2163.0526 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -152.4642, + 7113.6328, + 2163.0526 + ], + "actual_end_pos": [ + -152.4642, + 7113.6328, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -152.4642, + 7113.6328, + 2163.0526 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -152.4642, + 7113.6328, + 2163.0526 + ], + "actual_end_pos": [ + -152.4642, + 7113.6328, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -152.4642, + 7113.6328, + 2163.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -102.4642, + 7027.0303, + 2163.0526 + ], + "actual_end_pos": [ + -102.4642, + 7027.0303, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -102.4642, + 7027.0303, + 2163.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -52.4642, + 6940.4278, + 2163.0526 + ], + "actual_end_pos": [ + -52.4642, + 6940.4278, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -52.4642, + 6940.4278, + 2163.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -52.4642, + 6940.4278, + 2163.0526 + ], + "actual_end_pos": [ + -52.4642, + 6940.4278, + 2163.0526 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -52.4642, + 6940.4278, + 2163.0526 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2.4642, + 6853.8252, + 2163.0526 + ], + "actual_end_pos": [ + -2.4642, + 6853.8252, + 2163.0526 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2.4642, + 6853.8252, + 2163.0526 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2.4642, + 6853.8252, + 2163.0526 + ], + "actual_end_pos": [ + -2.4642, + 6853.8252, + 2163.0526 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2.4642, + 6853.8252, + 2163.0526 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 65.8371, + 6922.1265, + 2137.1707 + ], + "actual_end_pos": [ + 65.8371, + 6922.1265, + 2137.1707 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 65.8371, + 6922.1265, + 2137.1707 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 134.1384, + 6990.4278, + 2111.2888 + ], + "actual_end_pos": [ + 134.1384, + 6990.4278, + 2111.2888 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 134.1384, + 6990.4278, + 2111.2888 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 202.4396, + 7058.729, + 2085.4069 + ], + "actual_end_pos": [ + 202.4396, + 7058.729, + 2085.4069 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 202.4396, + 7058.729, + 2085.4069 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 273.1503, + 6988.0183, + 2085.4069 + ], + "actual_end_pos": [ + 273.1503, + 6988.0183, + 2085.4069 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 273.1503, + 6988.0183, + 2085.4069 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 273.1503, + 6988.0183, + 2085.4069 + ], + "actual_end_pos": [ + 273.1503, + 6988.0183, + 2085.4069 + ], + "actual_end_rot": [ + -22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 273.1503, + 6988.0183, + 2085.4069 + ], + "start_rot": [ + -22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 343.861, + 6917.3077, + 2085.4069 + ], + "actual_end_pos": [ + 343.861, + 6917.3077, + 2085.4069 + ], + "actual_end_rot": [ + -22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 343.861, + 6917.3077, + 2085.4069 + ], + "start_rot": [ + -22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 343.861, + 6917.3077, + 2085.4069 + ], + "actual_end_pos": [ + 343.861, + 6917.3077, + 2085.4069 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 343.861, + 6917.3077, + 2085.4069 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 343.861, + 6917.3077, + 2085.4069 + ], + "actual_end_pos": [ + 343.861, + 6917.3077, + 2085.4069 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 343.861, + 6917.3077, + 2085.4069 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 273.7552, + 6847.2019, + 2098.4595 + ], + "actual_end_pos": [ + 273.7552, + 6847.2019, + 2098.4595 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 273.7552, + 6847.2019, + 2098.4595 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 203.0446, + 6917.9126, + 2098.4595 + ], + "actual_end_pos": [ + 203.0446, + 6917.9126, + 2098.4595 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 203.0446, + 6917.9126, + 2098.4595 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_pos": [ + 132.3339, + 6988.6233, + 2098.4595 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004047_meta.json b/loop_easy/run_20260410_184831__traj_004047_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1d339297d753b6682fef7b81b181051bd23bd4c1 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004047_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4047, + "episode_id": 0, + "state_id": 3048, + "sample_index": 3048, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 120.0, + 7340.0, + 2150.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "turn_left", + "move_right", + "turn_left", + "move_left", + "move_left", + "turn_left", + "move_forward", + "move_right", + "turn_left", + "move_right", + "move_backward", + "no_op", + "move_left", + "move_forward", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 120.0, + 7340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 7340.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 7340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 120.0, + 7340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 7340.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 7340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 120.0, + 7340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 170.0, + 7426.6025, + 2150.0 + ], + "actual_end_pos": [ + 170.0, + 7426.6025, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 170.0, + 7426.6025, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 170.0, + 7426.6025, + 2150.0 + ], + "actual_end_pos": [ + 170.0, + 7426.6025, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 170.0, + 7426.6025, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 99.2893, + 7355.8919, + 2150.0 + ], + "actual_end_pos": [ + 99.2893, + 7355.8919, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 99.2893, + 7355.8919, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28.5786, + 7285.1812, + 2150.0 + ], + "actual_end_pos": [ + 28.5786, + 7285.1812, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 28.5786, + 7285.1812, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28.5786, + 7285.1812, + 2150.0 + ], + "actual_end_pos": [ + 28.5786, + 7285.1812, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 28.5786, + 7285.1812, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 78.5786, + 7198.5786, + 2150.0 + ], + "actual_end_pos": [ + 78.5786, + 7198.5786, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 78.5786, + 7198.5786, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 165.1812, + 7248.5786, + 2150.0 + ], + "actual_end_pos": [ + 165.1812, + 7248.5786, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 165.1812, + 7248.5786, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 165.1812, + 7248.5786, + 2150.0 + ], + "actual_end_pos": [ + 165.1812, + 7248.5786, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 165.1812, + 7248.5786, + 2150.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 261.7738, + 7274.4605, + 2150.0 + ], + "actual_end_pos": [ + 261.7738, + 7274.4605, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 261.7738, + 7274.4605, + 2150.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 235.8919, + 7371.0531, + 2150.0 + ], + "actual_end_pos": [ + 235.8919, + 7371.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 235.8919, + 7371.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 235.8919, + 7371.0531, + 2150.0 + ], + "actual_end_pos": [ + 235.8919, + 7371.0531, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 235.8919, + 7371.0531, + 2150.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 139.2993, + 7345.1712, + 2150.0 + ], + "actual_end_pos": [ + 139.2993, + 7345.1712, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 139.2993, + 7345.1712, + 2150.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 165.1812, + 7248.5786, + 2150.0 + ], + "actual_end_pos": [ + 165.1812, + 7248.5786, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 165.1812, + 7248.5786, + 2150.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 68.5886, + 7222.6967, + 2150.0 + ], + "actual_end_pos": [ + 68.5886, + 7222.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 68.5886, + 7222.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 68.5886, + 7222.6967, + 2150.0 + ], + "actual_end_pos": [ + 68.5886, + 7222.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 68.5886, + 7222.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 68.5886, + 7222.6967, + 2150.0 + ], + "actual_end_pos": [ + 68.5886, + 7222.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 68.5886, + 7222.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 68.5886, + 7222.6967, + 2150.0 + ], + "actual_end_pos": [ + 68.5886, + 7222.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 68.5886, + 7222.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 68.5886, + 7222.6967, + 2150.0 + ], + "actual_end_pos": [ + 68.5886, + 7222.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 68.5886, + 7222.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 68.5886, + 7222.6967, + 2150.0 + ], + "actual_end_pos": [ + 68.5886, + 7222.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 68.5886, + 7222.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 168.5886, + 7222.6967, + 2150.0 + ], + "actual_end_pos": [ + 168.5886, + 7222.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 168.5886, + 7222.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_pos": [ + 168.5886, + 7322.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004048_meta.json b/loop_easy/run_20260410_184831__traj_004048_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b0b72c5358738da8615ba2039d69da2207ecd08e --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004048_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4048, + "episode_id": 0, + "state_id": 3049, + "sample_index": 3049, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 120.0, + 7340.0, + 2150.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "look_down", + "move_left", + "look_up", + "move_left", + "turn_right", + "look_up", + "move_right", + "turn_left", + "move_backward", + "move_backward", + "turn_right", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_right", + "turn_right", + "move_right", + "turn_left", + "turn_left", + "move_backward", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "look_down", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 120.0, + 7340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 49.2893, + 7410.7107, + 2150.0 + ], + "actual_end_pos": [ + 49.2893, + 7410.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 49.2893, + 7410.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 49.2893, + 7410.7107, + 2150.0 + ], + "actual_end_pos": [ + 49.2893, + 7410.7107, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 49.2893, + 7410.7107, + 2150.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 7340.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 7340.0, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 120.0, + 7340.0, + 2150.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 7340.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 7340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 120.0, + 7340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 190.7107, + 7269.2893, + 2150.0 + ], + "actual_end_pos": [ + 190.7107, + 7269.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 190.7107, + 7269.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 190.7107, + 7269.2893, + 2150.0 + ], + "actual_end_pos": [ + 190.7107, + 7269.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 190.7107, + 7269.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 190.7107, + 7269.2893, + 2150.0 + ], + "actual_end_pos": [ + 190.7107, + 7269.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 190.7107, + 7269.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 104.1081, + 7319.2893, + 2150.0 + ], + "actual_end_pos": [ + 104.1081, + 7319.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 104.1081, + 7319.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 104.1081, + 7319.2893, + 2150.0 + ], + "actual_end_pos": [ + 104.1081, + 7319.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 104.1081, + 7319.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 34.0024, + 7249.1836, + 2136.9474 + ], + "actual_end_pos": [ + 34.0024, + 7249.1836, + 2136.9474 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 34.0024, + 7249.1836, + 2136.9474 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -36.1033, + 7179.0778, + 2123.8948 + ], + "actual_end_pos": [ + -36.1033, + 7179.0778, + 2123.8948 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -36.1033, + 7179.0778, + 2123.8948 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -36.1033, + 7179.0778, + 2123.8948 + ], + "actual_end_pos": [ + -36.1033, + 7179.0778, + 2123.8948 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -36.1033, + 7179.0778, + 2123.8948 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 13.4689, + 7264.9395, + 2136.9474 + ], + "actual_end_pos": [ + 13.4689, + 7264.9395, + 2136.9474 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13.4689, + 7264.9395, + 2136.9474 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 13.4689, + 7264.9395, + 2136.9474 + ], + "actual_end_pos": [ + 13.4689, + 7264.9395, + 2136.9474 + ], + "actual_end_rot": [ + 7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13.4689, + 7264.9395, + 2136.9474 + ], + "start_rot": [ + 7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 13.4689, + 7264.9395, + 2136.9474 + ], + "actual_end_pos": [ + 13.4689, + 7264.9395, + 2136.9474 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13.4689, + 7264.9395, + 2136.9474 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 13.4689, + 7264.9395, + 2136.9474 + ], + "actual_end_pos": [ + 13.4689, + 7264.9395, + 2136.9474 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13.4689, + 7264.9395, + 2136.9474 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 39.1294, + 7169.1733, + 2123.8948 + ], + "actual_end_pos": [ + 39.1294, + 7169.1733, + 2123.8948 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 39.1294, + 7169.1733, + 2123.8948 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -57.4632, + 7143.2914, + 2123.8948 + ], + "actual_end_pos": [ + -57.4632, + 7143.2914, + 2123.8948 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -57.4632, + 7143.2914, + 2123.8948 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -57.4632, + 7143.2914, + 2123.8948 + ], + "actual_end_pos": [ + -57.4632, + 7143.2914, + 2123.8948 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -57.4632, + 7143.2914, + 2123.8948 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -144.0657, + 7093.2914, + 2123.8948 + ], + "actual_end_pos": [ + -144.0657, + 7093.2914, + 2123.8948 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -144.0657, + 7093.2914, + 2123.8948 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -144.0657, + 7093.2914, + 2123.8948 + ], + "actual_end_pos": [ + -144.0657, + 7093.2914, + 2123.8948 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -144.0657, + 7093.2914, + 2123.8948 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -144.0657, + 7093.2914, + 2123.8948 + ], + "actual_end_pos": [ + -144.0657, + 7093.2914, + 2123.8948 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -144.0657, + 7093.2914, + 2123.8948 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -144.0657, + 6994.1469, + 2110.8421 + ], + "actual_end_pos": [ + -144.0657, + 6994.1469, + 2110.8421 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -144.0657, + 6994.1469, + 2110.8421 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -244.0657, + 6994.1469, + 2110.8421 + ], + "actual_end_pos": [ + -244.0657, + 6994.1469, + 2110.8421 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -244.0657, + 6994.1469, + 2110.8421 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -344.0657, + 6994.1469, + 2110.8421 + ], + "actual_end_pos": [ + -344.0657, + 6994.1469, + 2110.8421 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -344.0657, + 6994.1469, + 2110.8421 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -344.0657, + 6994.1469, + 2110.8421 + ], + "actual_end_pos": [ + -344.0657, + 6994.1469, + 2110.8421 + ], + "actual_end_rot": [ + 7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -344.0657, + 6994.1469, + 2110.8421 + ], + "start_rot": [ + 7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -344.0657, + 6994.1469, + 2110.8421 + ], + "actual_end_pos": [ + -344.0657, + 6994.1469, + 2110.8421 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -344.0657, + 6994.1469, + 2110.8421 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -344.0657, + 6994.1469, + 2110.8421 + ], + "actual_end_pos": [ + -344.0657, + 6994.1469, + 2110.8421 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -344.0657, + 6994.1469, + 2110.8421 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -344.0657, + 6994.1469, + 2110.8421 + ], + "actual_end_pos": [ + -344.0657, + 6994.1469, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -344.0657, + 6994.1469, + 2110.8421 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -273.3551, + 7064.8576, + 2110.8421 + ], + "actual_end_pos": [ + -273.3551, + 7064.8576, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -273.3551, + 7064.8576, + 2110.8421 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -202.6444, + 7135.5682, + 2110.8421 + ], + "actual_end_pos": [ + -202.6444, + 7135.5682, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -202.6444, + 7135.5682, + 2110.8421 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -131.9337, + 7206.2789, + 2110.8421 + ], + "actual_end_pos": [ + -131.9337, + 7206.2789, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -131.9337, + 7206.2789, + 2110.8421 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -61.223, + 7276.9896, + 2110.8421 + ], + "actual_end_pos": [ + -61.223, + 7276.9896, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -61.223, + 7276.9896, + 2110.8421 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9.4877, + 7347.7003, + 2110.8421 + ], + "actual_end_pos": [ + 9.4877, + 7347.7003, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 9.4877, + 7347.7003, + 2110.8421 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 80.1983, + 7418.4109, + 2110.8421 + ], + "actual_end_pos": [ + 80.1983, + 7418.4109, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 80.1983, + 7418.4109, + 2110.8421 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 150.909, + 7347.7003, + 2110.8421 + ], + "actual_end_pos": [ + 150.909, + 7347.7003, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 150.909, + 7347.7003, + 2110.8421 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 150.909, + 7347.7003, + 2110.8421 + ], + "actual_end_pos": [ + 150.909, + 7347.7003, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 150.909, + 7347.7003, + 2110.8421 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 150.909, + 7347.7003, + 2110.8421 + ], + "actual_end_pos": [ + 150.909, + 7347.7003, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 150.909, + 7347.7003, + 2110.8421 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 150.909, + 7347.7003, + 2110.8421 + ], + "actual_end_pos": [ + 150.909, + 7347.7003, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 150.909, + 7347.7003, + 2110.8421 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 150.909, + 7347.7003, + 2110.8421 + ], + "actual_end_pos": [ + 150.909, + 7347.7003, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004050_meta.json b/loop_easy/run_20260410_184831__traj_004050_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..725d6fc759cbdd8c09d00c22ceba430e4d425551 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004050_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4050, + "episode_id": 0, + "state_id": 3051, + "sample_index": 3051, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 120.0, + 7340.0, + 2150.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "turn_right", + "move_forward", + "turn_left", + "move_forward", + "move_forward", + "move_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "move_backward", + "move_backward", + "move_left", + "no_op", + "move_right", + "move_backward", + "turn_right", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 120.0, + 7340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 49.2893, + 7269.2893, + 2150.0 + ], + "actual_end_pos": [ + 49.2893, + 7269.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 49.2893, + 7269.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -21.4214, + 7198.5786, + 2150.0 + ], + "actual_end_pos": [ + -21.4214, + 7198.5786, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -21.4214, + 7198.5786, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -21.4214, + 7198.5786, + 2150.0 + ], + "actual_end_pos": [ + -21.4214, + 7198.5786, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -21.4214, + 7198.5786, + 2150.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -108.0239, + 7248.5786, + 2150.0 + ], + "actual_end_pos": [ + -108.0239, + 7248.5786, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -108.0239, + 7248.5786, + 2150.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -108.0239, + 7248.5786, + 2150.0 + ], + "actual_end_pos": [ + -108.0239, + 7248.5786, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -108.0239, + 7248.5786, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -178.7346, + 7319.2893, + 2150.0 + ], + "actual_end_pos": [ + -178.7346, + 7319.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -178.7346, + 7319.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -249.4453, + 7390.0, + 2150.0 + ], + "actual_end_pos": [ + -249.4453, + 7390.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -249.4453, + 7390.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -178.7346, + 7460.7107, + 2150.0 + ], + "actual_end_pos": [ + -178.7346, + 7460.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -178.7346, + 7460.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -178.7346, + 7460.7107, + 2150.0 + ], + "actual_end_pos": [ + -178.7346, + 7460.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -178.7346, + 7460.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -265.3371, + 7410.7107, + 2150.0 + ], + "actual_end_pos": [ + -265.3371, + 7410.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -265.3371, + 7410.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -351.9397, + 7360.7107, + 2150.0 + ], + "actual_end_pos": [ + -351.9397, + 7360.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -351.9397, + 7360.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -438.5422, + 7310.7107, + 2150.0 + ], + "actual_end_pos": [ + -438.5422, + 7310.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -438.5422, + 7310.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -388.5422, + 7224.1081, + 2150.0 + ], + "actual_end_pos": [ + -388.5422, + 7224.1081, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -388.5422, + 7224.1081, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -338.5422, + 7137.5056, + 2150.0 + ], + "actual_end_pos": [ + -338.5422, + 7137.5056, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -338.5422, + 7137.5056, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -251.9397, + 7187.5056, + 2150.0 + ], + "actual_end_pos": [ + -251.9397, + 7187.5056, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -251.9397, + 7187.5056, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -251.9397, + 7187.5056, + 2150.0 + ], + "actual_end_pos": [ + -251.9397, + 7187.5056, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -251.9397, + 7187.5056, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -338.5422, + 7137.5056, + 2150.0 + ], + "actual_end_pos": [ + -338.5422, + 7137.5056, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -338.5422, + 7137.5056, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -288.5422, + 7050.9031, + 2150.0 + ], + "actual_end_pos": [ + -288.5422, + 7050.9031, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -288.5422, + 7050.9031, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -288.5422, + 7050.9031, + 2150.0 + ], + "actual_end_pos": [ + -288.5422, + 7050.9031, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -288.5422, + 7050.9031, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -217.8315, + 6980.1924, + 2150.0 + ], + "actual_end_pos": [ + -217.8315, + 6980.1924, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -217.8315, + 6980.1924, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -147.1208, + 7050.9031, + 2150.0 + ], + "actual_end_pos": [ + -147.1208, + 7050.9031, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -147.1208, + 7050.9031, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -76.4102, + 7121.6137, + 2150.0 + ], + "actual_end_pos": [ + -76.4102, + 7121.6137, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -76.4102, + 7121.6137, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -5.6995, + 7192.3244, + 2150.0 + ], + "actual_end_pos": [ + -5.6995, + 7192.3244, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -5.6995, + 7192.3244, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 65.0112, + 7263.0351, + 2150.0 + ], + "actual_end_pos": [ + 65.0112, + 7263.0351, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 65.0112, + 7263.0351, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_pos": [ + 135.7219, + 7333.7458, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004263_meta.json b/loop_easy/run_20260410_184831__traj_004263_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db67059fe9c9c0b2b41a4c395dbede9d624f06c5 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004263_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4263, + "episode_id": 0, + "state_id": 3211, + "sample_index": 3211, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 120.0, + 14240.0, + 2150.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "move_right", + "no_op", + "move_forward", + "move_right", + "move_forward", + "move_left", + "look_up", + "no_op", + "no_op", + "turn_right", + "no_op", + "look_up", + "no_op", + "look_down", + "move_backward", + "move_right", + "move_backward", + "move_left", + "turn_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 120.0, + 14240.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 14240.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 14240.0, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 120.0, + 14240.0, + 2150.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 49.2893, + 14169.2893, + 2150.0 + ], + "actual_end_pos": [ + 49.2893, + 14169.2893, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 49.2893, + 14169.2893, + 2150.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 49.2893, + 14169.2893, + 2150.0 + ], + "actual_end_pos": [ + 49.2893, + 14169.2893, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 49.2893, + 14169.2893, + 2150.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -20.8164, + 14239.3951, + 2136.9474 + ], + "actual_end_pos": [ + -20.8164, + 14239.3951, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -20.8164, + 14239.3951, + 2136.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -91.5271, + 14168.6844, + 2136.9474 + ], + "actual_end_pos": [ + -91.5271, + 14168.6844, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -91.5271, + 14168.6844, + 2136.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -161.6328, + 14238.7901, + 2123.8948 + ], + "actual_end_pos": [ + -161.6328, + 14238.7901, + 2123.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -161.6328, + 14238.7901, + 2123.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "actual_end_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "actual_end_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "actual_end_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "actual_end_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "actual_end_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "actual_end_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "actual_end_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "actual_end_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "actual_end_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -90.9222, + 14309.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4.3196, + 14259.5008, + 2123.8948 + ], + "actual_end_pos": [ + -4.3196, + 14259.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4.3196, + 14259.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -54.3196, + 14172.8983, + 2123.8948 + ], + "actual_end_pos": [ + -54.3196, + 14172.8983, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -54.3196, + 14172.8983, + 2123.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 32.2829, + 14122.8983, + 2123.8948 + ], + "actual_end_pos": [ + 32.2829, + 14122.8983, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 32.2829, + 14122.8983, + 2123.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_pos": [ + 82.2829, + 14209.5008, + 2123.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004264_meta.json b/loop_easy/run_20260410_184831__traj_004264_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1baef78329d20209a54bd80c8a02cd643d577f21 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004264_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4264, + "episode_id": 0, + "state_id": 3212, + "sample_index": 3212, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 120.0, + 14240.0, + 2150.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "turn_right", + "move_forward", + "no_op", + "turn_left", + "move_forward", + "move_forward", + "turn_right", + "no_op", + "turn_left", + "move_right", + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_forward", + "move_left", + "turn_right", + "move_right", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 120.0, + 14240.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 14140.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 14140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 120.0, + 14140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 14140.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 14140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 120.0, + 14140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 23.4074, + 14114.1181, + 2150.0 + ], + "actual_end_pos": [ + 23.4074, + 14114.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 23.4074, + 14114.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 23.4074, + 14114.1181, + 2150.0 + ], + "actual_end_pos": [ + 23.4074, + 14114.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 23.4074, + 14114.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 23.4074, + 14114.1181, + 2150.0 + ], + "actual_end_pos": [ + 23.4074, + 14114.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 23.4074, + 14114.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -76.5926, + 14114.1181, + 2150.0 + ], + "actual_end_pos": [ + -76.5926, + 14114.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -76.5926, + 14114.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -176.5926, + 14114.1181, + 2150.0 + ], + "actual_end_pos": [ + -176.5926, + 14114.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -176.5926, + 14114.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -176.5926, + 14114.1181, + 2150.0 + ], + "actual_end_pos": [ + -176.5926, + 14114.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -176.5926, + 14114.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -176.5926, + 14114.1181, + 2150.0 + ], + "actual_end_pos": [ + -176.5926, + 14114.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -176.5926, + 14114.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -176.5926, + 14114.1181, + 2150.0 + ], + "actual_end_pos": [ + -176.5926, + 14114.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -176.5926, + 14114.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -176.5926, + 14014.1181, + 2150.0 + ], + "actual_end_pos": [ + -176.5926, + 14014.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -176.5926, + 14014.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -276.5926, + 14014.1181, + 2150.0 + ], + "actual_end_pos": [ + -276.5926, + 14014.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -276.5926, + 14014.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -376.5926, + 14014.1181, + 2150.0 + ], + "actual_end_pos": [ + -376.5926, + 14014.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -376.5926, + 14014.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -376.5926, + 13914.1181, + 2150.0 + ], + "actual_end_pos": [ + -376.5926, + 13914.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -376.5926, + 13914.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -376.5926, + 13814.1181, + 2150.0 + ], + "actual_end_pos": [ + -376.5926, + 13814.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -376.5926, + 13814.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -476.5926, + 13814.1181, + 2150.0 + ], + "actual_end_pos": [ + -476.5926, + 13814.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -476.5926, + 13814.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -476.5926, + 13914.1181, + 2150.0 + ], + "actual_end_pos": [ + -476.5926, + 13914.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -476.5926, + 13914.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -476.5926, + 13914.1181, + 2150.0 + ], + "actual_end_pos": [ + -476.5926, + 13914.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -476.5926, + 13914.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -450.7107, + 13817.5255, + 2150.0 + ], + "actual_end_pos": [ + -450.7107, + 13817.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -450.7107, + 13817.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -450.7107, + 13817.5255, + 2150.0 + ], + "actual_end_pos": [ + -450.7107, + 13817.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -450.7107, + 13817.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -350.7107, + 13817.5255, + 2150.0 + ], + "actual_end_pos": [ + -350.7107, + 13817.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -350.7107, + 13817.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -250.7107, + 13817.5255, + 2150.0 + ], + "actual_end_pos": [ + -250.7107, + 13817.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -250.7107, + 13817.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -150.7107, + 13817.5255, + 2150.0 + ], + "actual_end_pos": [ + -150.7107, + 13817.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -150.7107, + 13817.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -50.7107, + 13817.5255, + 2150.0 + ], + "actual_end_pos": [ + -50.7107, + 13817.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -50.7107, + 13817.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 49.2893, + 13817.5255, + 2150.0 + ], + "actual_end_pos": [ + 49.2893, + 13817.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 49.2893, + 13817.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 149.2893, + 13817.5255, + 2150.0 + ], + "actual_end_pos": [ + 149.2893, + 13817.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 149.2893, + 13817.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 149.2893, + 13917.5255, + 2150.0 + ], + "actual_end_pos": [ + 149.2893, + 13917.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 149.2893, + 13917.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 149.2893, + 14017.5255, + 2150.0 + ], + "actual_end_pos": [ + 149.2893, + 14017.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 149.2893, + 14017.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 149.2893, + 14117.5255, + 2150.0 + ], + "actual_end_pos": [ + 149.2893, + 14117.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 149.2893, + 14117.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_pos": [ + 149.2893, + 14217.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004277_meta.json b/loop_easy/run_20260410_184831__traj_004277_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..090fddba25703883b58bfc07ee1dd3888bfcbb1d --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004277_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4277, + "episode_id": 0, + "state_id": 3222, + "sample_index": 3222, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 120.0, + 14540.0, + 2150.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "turn_right", + "turn_right", + "move_right", + "move_forward", + "turn_right", + "no_op", + "look_down", + "no_op", + "move_backward", + "move_backward", + "turn_right", + "move_right", + "move_forward", + "no_op", + "no_op", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "look_up", + "move_forward", + "move_forward", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 120.0, + 14540.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 14540.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 14540.0, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 120.0, + 14540.0, + 2150.0 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 14540.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 14540.0, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 120.0, + 14540.0, + 2150.0 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 14540.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 14540.0, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 120.0, + 14540.0, + 2150.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 206.6025, + 14590.0, + 2150.0 + ], + "actual_end_pos": [ + 206.6025, + 14590.0, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 206.6025, + 14590.0, + 2150.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 256.1748, + 14504.1384, + 2136.9474 + ], + "actual_end_pos": [ + 256.1748, + 14504.1384, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 256.1748, + 14504.1384, + 2136.9474 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 256.1748, + 14504.1384, + 2136.9474 + ], + "actual_end_pos": [ + 256.1748, + 14504.1384, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 256.1748, + 14504.1384, + 2136.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 256.1748, + 14504.1384, + 2136.9474 + ], + "actual_end_pos": [ + 256.1748, + 14504.1384, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 256.1748, + 14504.1384, + 2136.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 256.1748, + 14504.1384, + 2136.9474 + ], + "actual_end_pos": [ + 256.1748, + 14504.1384, + 2136.9474 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 256.1748, + 14504.1384, + 2136.9474 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 256.1748, + 14504.1384, + 2136.9474 + ], + "actual_end_pos": [ + 256.1748, + 14504.1384, + 2136.9474 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 256.1748, + 14504.1384, + 2136.9474 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 187.8735, + 14572.4396, + 2162.8293 + ], + "actual_end_pos": [ + 187.8735, + 14572.4396, + 2162.8293 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 187.8735, + 14572.4396, + 2162.8293 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 119.5722, + 14640.7409, + 2188.7112 + ], + "actual_end_pos": [ + 119.5722, + 14640.7409, + 2188.7112 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 119.5722, + 14640.7409, + 2188.7112 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 119.5722, + 14640.7409, + 2188.7112 + ], + "actual_end_pos": [ + 119.5722, + 14640.7409, + 2188.7112 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 119.5722, + 14640.7409, + 2188.7112 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 169.5722, + 14727.3434, + 2188.7112 + ], + "actual_end_pos": [ + 169.5722, + 14727.3434, + 2188.7112 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 169.5722, + 14727.3434, + 2188.7112 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 253.2239, + 14679.0471, + 2162.8293 + ], + "actual_end_pos": [ + 253.2239, + 14679.0471, + 2162.8293 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 253.2239, + 14679.0471, + 2162.8293 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 253.2239, + 14679.0471, + 2162.8293 + ], + "actual_end_pos": [ + 253.2239, + 14679.0471, + 2162.8293 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 253.2239, + 14679.0471, + 2162.8293 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 253.2239, + 14679.0471, + 2162.8293 + ], + "actual_end_pos": [ + 253.2239, + 14679.0471, + 2162.8293 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 253.2239, + 14679.0471, + 2162.8293 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 303.2239, + 14765.6497, + 2162.8293 + ], + "actual_end_pos": [ + 303.2239, + 14765.6497, + 2162.8293 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 303.2239, + 14765.6497, + 2162.8293 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 303.2239, + 14765.6497, + 2162.8293 + ], + "actual_end_pos": [ + 303.2239, + 14765.6497, + 2162.8293 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 303.2239, + 14765.6497, + 2162.8293 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 303.2239, + 14765.6497, + 2162.8293 + ], + "actual_end_pos": [ + 303.2239, + 14765.6497, + 2162.8293 + ], + "actual_end_rot": [ + -15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 303.2239, + 14765.6497, + 2162.8293 + ], + "start_rot": [ + -15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 303.2239, + 14765.6497, + 2162.8293 + ], + "actual_end_pos": [ + 303.2239, + 14765.6497, + 2162.8293 + ], + "actual_end_rot": [ + -15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 303.2239, + 14765.6497, + 2162.8293 + ], + "start_rot": [ + -15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 303.2239, + 14765.6497, + 2162.8293 + ], + "actual_end_pos": [ + 303.2239, + 14765.6497, + 2162.8293 + ], + "actual_end_rot": [ + -15.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 303.2239, + 14765.6497, + 2162.8293 + ], + "start_rot": [ + -15.0, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 303.2239, + 14765.6497, + 2162.8293 + ], + "actual_end_pos": [ + 303.2239, + 14765.6497, + 2162.8293 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 303.2239, + 14765.6497, + 2162.8293 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 303.2239, + 14666.5052, + 2149.7767 + ], + "actual_end_pos": [ + 303.2239, + 14666.5052, + 2149.7767 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 303.2239, + 14666.5052, + 2149.7767 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 303.2239, + 14567.3607, + 2136.724 + ], + "actual_end_pos": [ + 303.2239, + 14567.3607, + 2136.724 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 303.2239, + 14567.3607, + 2136.724 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 203.2239, + 14567.3607, + 2136.724 + ], + "actual_end_pos": [ + 203.2239, + 14567.3607, + 2136.724 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 203.2239, + 14567.3607, + 2136.724 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_pos": [ + 103.2239, + 14567.3607, + 2136.724 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004279_meta.json b/loop_easy/run_20260410_184831__traj_004279_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..08cddaa29fb78d4e0cf73dcfcf590c839b477bb3 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004279_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4279, + "episode_id": 0, + "state_id": 3224, + "sample_index": 3224, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 120.0, + 14840.0, + 2150.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_right", + "move_forward", + "turn_right", + "move_left", + "move_left", + "move_left", + "move_backward", + "turn_left", + "move_backward", + "turn_right", + "move_forward", + "no_op", + "look_up", + "turn_right", + "look_down", + "move_left", + "turn_left", + "move_backward", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 120.0, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 14840.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 14840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 120.0, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 145.8819, + 14936.5926, + 2150.0 + ], + "actual_end_pos": [ + 145.8819, + 14936.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 145.8819, + 14936.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 242.4745, + 14910.7107, + 2150.0 + ], + "actual_end_pos": [ + 242.4745, + 14910.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 242.4745, + 14910.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 242.4745, + 14910.7107, + 2150.0 + ], + "actual_end_pos": [ + 242.4745, + 14910.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 242.4745, + 14910.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 242.4745, + 14810.7107, + 2150.0 + ], + "actual_end_pos": [ + 242.4745, + 14810.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 242.4745, + 14810.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 242.4745, + 14710.7107, + 2150.0 + ], + "actual_end_pos": [ + 242.4745, + 14710.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 242.4745, + 14710.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 242.4745, + 14610.7107, + 2150.0 + ], + "actual_end_pos": [ + 242.4745, + 14610.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 242.4745, + 14610.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 142.4745, + 14610.7107, + 2150.0 + ], + "actual_end_pos": [ + 142.4745, + 14610.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 142.4745, + 14610.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 142.4745, + 14610.7107, + 2150.0 + ], + "actual_end_pos": [ + 142.4745, + 14610.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 142.4745, + 14610.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 45.8819, + 14636.5926, + 2150.0 + ], + "actual_end_pos": [ + 45.8819, + 14636.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 45.8819, + 14636.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 45.8819, + 14636.5926, + 2150.0 + ], + "actual_end_pos": [ + 45.8819, + 14636.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 45.8819, + 14636.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 145.8819, + 14636.5926, + 2150.0 + ], + "actual_end_pos": [ + 145.8819, + 14636.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 145.8819, + 14636.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 145.8819, + 14636.5926, + 2150.0 + ], + "actual_end_pos": [ + 145.8819, + 14636.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 145.8819, + 14636.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 145.8819, + 14636.5926, + 2150.0 + ], + "actual_end_pos": [ + 145.8819, + 14636.5926, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 145.8819, + 14636.5926, + 2150.0 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 145.8819, + 14636.5926, + 2150.0 + ], + "actual_end_pos": [ + 145.8819, + 14636.5926, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 145.8819, + 14636.5926, + 2150.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 145.8819, + 14636.5926, + 2150.0 + ], + "actual_end_pos": [ + 145.8819, + 14636.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 145.8819, + 14636.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 171.7638, + 14540.0, + 2150.0 + ], + "actual_end_pos": [ + 171.7638, + 14540.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 171.7638, + 14540.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 171.7638, + 14540.0, + 2150.0 + ], + "actual_end_pos": [ + 171.7638, + 14540.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 171.7638, + 14540.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14540.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14540.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 71.7638, + 14540.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14640.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14640.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 71.7638, + 14640.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14740.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14740.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 71.7638, + 14740.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_pos": [ + 71.7638, + 14840.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004286_meta.json b/loop_easy/run_20260410_184831__traj_004286_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fed0dad0f7d5a4ea9376a2de3ec156abccc602b4 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004286_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4286, + "episode_id": 0, + "state_id": 3228, + "sample_index": 3228, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 120.0, + 14840.0, + 2150.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "turn_left", + "look_up", + "turn_left", + "move_forward", + "move_right", + "move_right", + "turn_left", + "move_forward", + "move_left", + "no_op", + "move_forward", + "look_up", + "no_op", + "no_op", + "turn_right", + "turn_right", + "turn_right", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 120.0, + 14840.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 14940.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 14940.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 120.0, + 14940.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 14940.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 14940.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 120.0, + 14940.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 14940.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 14940.0, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 120.0, + 14940.0, + 2150.0 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 14940.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 14940.0, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 120.0, + 14940.0, + 2150.0 + ], + "start_rot": [ + 7.5, + 150.0, + -0.0 + ], + "expected_end_pos": [ + 34.1384, + 14989.5722, + 2163.0526 + ], + "actual_end_pos": [ + 34.1384, + 14989.5722, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 34.1384, + 14989.5722, + 2163.0526 + ], + "start_rot": [ + 7.5, + 150.0, + -0.0 + ], + "expected_end_pos": [ + -15.8616, + 14902.9697, + 2163.0526 + ], + "actual_end_pos": [ + -15.8616, + 14902.9697, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -15.8616, + 14902.9697, + 2163.0526 + ], + "start_rot": [ + 7.5, + 150.0, + -0.0 + ], + "expected_end_pos": [ + -65.8616, + 14816.3672, + 2163.0526 + ], + "actual_end_pos": [ + -65.8616, + 14816.3672, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -65.8616, + 14816.3672, + 2163.0526 + ], + "start_rot": [ + 7.5, + 150.0, + -0.0 + ], + "expected_end_pos": [ + -65.8616, + 14816.3672, + 2163.0526 + ], + "actual_end_pos": [ + -65.8616, + 14816.3672, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -65.8616, + 14816.3672, + 2163.0526 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -135.9674, + 14886.4729, + 2176.1052 + ], + "actual_end_pos": [ + -135.9674, + 14886.4729, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -135.9674, + 14886.4729, + 2176.1052 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -65.2567, + 14957.1836, + 2176.1052 + ], + "actual_end_pos": [ + -65.2567, + 14957.1836, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -65.2567, + 14957.1836, + 2176.1052 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -65.2567, + 14957.1836, + 2176.1052 + ], + "actual_end_pos": [ + -65.2567, + 14957.1836, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -65.2567, + 14957.1836, + 2176.1052 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "actual_end_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "actual_end_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "actual_end_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "actual_end_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "actual_end_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "actual_end_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "actual_end_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "actual_end_rot": [ + 15.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "start_rot": [ + 15.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "actual_end_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -135.3624, + 15027.2893, + 2189.1579 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -36.218, + 15027.2893, + 2176.1052 + ], + "actual_end_pos": [ + -36.218, + 15027.2893, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -36.218, + 15027.2893, + 2176.1052 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 62.9265, + 15027.2893, + 2163.0526 + ], + "actual_end_pos": [ + 62.9265, + 15027.2893, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 62.9265, + 15027.2893, + 2163.0526 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 162.071, + 15027.2893, + 2150.0 + ], + "actual_end_pos": [ + 162.071, + 15027.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 162.071, + 15027.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 162.071, + 14927.2893, + 2150.0 + ], + "actual_end_pos": [ + 162.071, + 14927.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 162.071, + 14927.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_pos": [ + 162.071, + 14827.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004294_meta.json b/loop_easy/run_20260410_184831__traj_004294_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b7ea8db6ae487a13649df217cd64dfd98cc1e703 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004294_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4294, + "episode_id": 0, + "state_id": 3234, + "sample_index": 3234, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 120.0, + 15140.0, + 2150.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "move_forward", + "look_up", + "look_up", + "move_right", + "move_forward", + "turn_right", + "look_up", + "move_right", + "move_right", + "move_forward", + "no_op", + "look_down", + "move_backward", + "no_op", + "move_right", + "turn_left", + "move_left", + "turn_left", + "move_forward", + "no_op", + "no_op", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 120.0, + 15140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 15140.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 15140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 120.0, + 15140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 94.1181, + 15236.5926, + 2150.0 + ], + "actual_end_pos": [ + 94.1181, + 15236.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 94.1181, + 15236.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 68.2362, + 15333.1852, + 2150.0 + ], + "actual_end_pos": [ + 68.2362, + 15333.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 68.2362, + 15333.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 164.8288, + 15359.0671, + 2150.0 + ], + "actual_end_pos": [ + 164.8288, + 15359.0671, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 164.8288, + 15359.0671, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 138.9469, + 15455.6597, + 2150.0 + ], + "actual_end_pos": [ + 138.9469, + 15455.6597, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 138.9469, + 15455.6597, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 113.065, + 15552.2522, + 2150.0 + ], + "actual_end_pos": [ + 113.065, + 15552.2522, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 113.065, + 15552.2522, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 113.065, + 15552.2522, + 2150.0 + ], + "actual_end_pos": [ + 113.065, + 15552.2522, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 113.065, + 15552.2522, + 2150.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 113.065, + 15552.2522, + 2150.0 + ], + "actual_end_pos": [ + 113.065, + 15552.2522, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 113.065, + 15552.2522, + 2150.0 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 16.4724, + 15526.3703, + 2150.0 + ], + "actual_end_pos": [ + 16.4724, + 15526.3703, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 16.4724, + 15526.3703, + 2150.0 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -8.5276, + 15619.6716, + 2175.8819 + ], + "actual_end_pos": [ + -8.5276, + 15619.6716, + 2175.8819 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -8.5276, + 15619.6716, + 2175.8819 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -8.5276, + 15619.6716, + 2175.8819 + ], + "actual_end_pos": [ + -8.5276, + 15619.6716, + 2175.8819 + ], + "actual_end_rot": [ + 15.0, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -8.5276, + 15619.6716, + 2175.8819 + ], + "start_rot": [ + 15.0, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -8.5276, + 15619.6716, + 2175.8819 + ], + "actual_end_pos": [ + -8.5276, + 15619.6716, + 2175.8819 + ], + "actual_end_rot": [ + 22.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -8.5276, + 15619.6716, + 2175.8819 + ], + "start_rot": [ + 22.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -95.1302, + 15569.6716, + 2175.8819 + ], + "actual_end_pos": [ + -95.1302, + 15569.6716, + 2175.8819 + ], + "actual_end_rot": [ + 22.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -95.1302, + 15569.6716, + 2175.8819 + ], + "start_rot": [ + 22.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -181.7327, + 15519.6716, + 2175.8819 + ], + "actual_end_pos": [ + -181.7327, + 15519.6716, + 2175.8819 + ], + "actual_end_rot": [ + 22.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -181.7327, + 15519.6716, + 2175.8819 + ], + "start_rot": [ + 22.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -227.9267, + 15599.6819, + 2214.1502 + ], + "actual_end_pos": [ + -227.9267, + 15599.6819, + 2214.1502 + ], + "actual_end_rot": [ + 22.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -227.9267, + 15599.6819, + 2214.1502 + ], + "start_rot": [ + 22.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -227.9267, + 15599.6819, + 2214.1502 + ], + "actual_end_pos": [ + -227.9267, + 15599.6819, + 2214.1502 + ], + "actual_end_rot": [ + 22.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -227.9267, + 15599.6819, + 2214.1502 + ], + "start_rot": [ + 22.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -227.9267, + 15599.6819, + 2214.1502 + ], + "actual_end_pos": [ + -227.9267, + 15599.6819, + 2214.1502 + ], + "actual_end_rot": [ + 15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -227.9267, + 15599.6819, + 2214.1502 + ], + "start_rot": [ + 15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -179.6304, + 15516.0303, + 2188.2683 + ], + "actual_end_pos": [ + -179.6304, + 15516.0303, + 2188.2683 + ], + "actual_end_rot": [ + 15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -179.6304, + 15516.0303, + 2188.2683 + ], + "start_rot": [ + 15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -179.6304, + 15516.0303, + 2188.2683 + ], + "actual_end_pos": [ + -179.6304, + 15516.0303, + 2188.2683 + ], + "actual_end_rot": [ + 15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -179.6304, + 15516.0303, + 2188.2683 + ], + "start_rot": [ + 15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -266.2329, + 15466.0303, + 2188.2683 + ], + "actual_end_pos": [ + -266.2329, + 15466.0303, + 2188.2683 + ], + "actual_end_rot": [ + 15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -266.2329, + 15466.0303, + 2188.2683 + ], + "start_rot": [ + 15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -266.2329, + 15466.0303, + 2188.2683 + ], + "actual_end_pos": [ + -266.2329, + 15466.0303, + 2188.2683 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -266.2329, + 15466.0303, + 2188.2683 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -169.6403, + 15491.9122, + 2188.2683 + ], + "actual_end_pos": [ + -169.6403, + 15491.9122, + 2188.2683 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -169.6403, + 15491.9122, + 2188.2683 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -169.6403, + 15491.9122, + 2188.2683 + ], + "actual_end_pos": [ + -169.6403, + 15491.9122, + 2188.2683 + ], + "actual_end_rot": [ + 15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -169.6403, + 15491.9122, + 2188.2683 + ], + "start_rot": [ + 15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -169.6403, + 15588.5048, + 2214.1502 + ], + "actual_end_pos": [ + -169.6403, + 15588.5048, + 2214.1502 + ], + "actual_end_rot": [ + 15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -169.6403, + 15588.5048, + 2214.1502 + ], + "start_rot": [ + 15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -169.6403, + 15588.5048, + 2214.1502 + ], + "actual_end_pos": [ + -169.6403, + 15588.5048, + 2214.1502 + ], + "actual_end_rot": [ + 15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -169.6403, + 15588.5048, + 2214.1502 + ], + "start_rot": [ + 15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -169.6403, + 15588.5048, + 2214.1502 + ], + "actual_end_pos": [ + -169.6403, + 15588.5048, + 2214.1502 + ], + "actual_end_rot": [ + 15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -169.6403, + 15588.5048, + 2214.1502 + ], + "start_rot": [ + 15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -169.6403, + 15588.5048, + 2214.1502 + ], + "actual_end_pos": [ + -169.6403, + 15588.5048, + 2214.1502 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -169.6403, + 15588.5048, + 2214.1502 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -169.6403, + 15489.3603, + 2201.0976 + ], + "actual_end_pos": [ + -169.6403, + 15489.3603, + 2201.0976 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -169.6403, + 15489.3603, + 2201.0976 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -169.6403, + 15390.2158, + 2188.045 + ], + "actual_end_pos": [ + -169.6403, + 15390.2158, + 2188.045 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -169.6403, + 15390.2158, + 2188.045 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -169.6403, + 15291.0713, + 2174.9924 + ], + "actual_end_pos": [ + -169.6403, + 15291.0713, + 2174.9924 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -169.6403, + 15291.0713, + 2174.9924 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -169.6403, + 15191.9268, + 2161.9398 + ], + "actual_end_pos": [ + -169.6403, + 15191.9268, + 2161.9398 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -169.6403, + 15191.9268, + 2161.9398 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -69.6403, + 15191.9268, + 2161.9398 + ], + "actual_end_pos": [ + -69.6403, + 15191.9268, + 2161.9398 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -69.6403, + 15191.9268, + 2161.9398 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 30.3597, + 15191.9268, + 2161.9398 + ], + "actual_end_pos": [ + 30.3597, + 15191.9268, + 2161.9398 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30.3597, + 15191.9268, + 2161.9398 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 130.3597, + 15191.9268, + 2161.9398 + ], + "actual_end_pos": [ + 130.3597, + 15191.9268, + 2161.9398 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.3597, + 15191.9268, + 2161.9398 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 130.3597, + 15191.9268, + 2161.9398 + ], + "actual_end_pos": [ + 130.3597, + 15191.9268, + 2161.9398 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.3597, + 15191.9268, + 2161.9398 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 130.3597, + 15191.9268, + 2161.9398 + ], + "actual_end_pos": [ + 130.3597, + 15191.9268, + 2161.9398 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.3597, + 15191.9268, + 2161.9398 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 130.3597, + 15191.9268, + 2161.9398 + ], + "actual_end_pos": [ + 130.3597, + 15191.9268, + 2161.9398 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.3597, + 15191.9268, + 2161.9398 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 130.3597, + 15191.9268, + 2161.9398 + ], + "actual_end_pos": [ + 130.3597, + 15191.9268, + 2161.9398 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.3597, + 15191.9268, + 2161.9398 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 130.3597, + 15191.9268, + 2161.9398 + ], + "actual_end_pos": [ + 130.3597, + 15191.9268, + 2161.9398 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.3597, + 15191.9268, + 2161.9398 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 130.3597, + 15191.9268, + 2161.9398 + ], + "actual_end_pos": [ + 130.3597, + 15191.9268, + 2161.9398 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004301_meta.json b/loop_easy/run_20260410_184831__traj_004301_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3cd50517913cb3f3996d50989cee81a536a4074b --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004301_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4301, + "episode_id": 0, + "state_id": 3240, + "sample_index": 3240, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 120.0, + 15440.0, + 2150.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "look_up", + "move_right", + "move_right", + "look_up", + "move_left", + "move_left", + "look_down", + "move_backward", + "move_left", + "move_left", + "turn_right", + "move_left", + "turn_left", + "move_left", + "look_up", + "turn_right", + "move_right", + "move_forward", + "move_forward", + "turn_left", + "look_down", + "move_backward", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 120.0, + 15440.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 15440.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 15440.0, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 120.0, + 15440.0, + 2150.0 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 15540.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 15540.0, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 120.0, + 15540.0, + 2150.0 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 15640.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 15640.0, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 120.0, + 15640.0, + 2150.0 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 15640.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 15640.0, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 120.0, + 15640.0, + 2150.0 + ], + "start_rot": [ + 15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 15540.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 15540.0, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 120.0, + 15540.0, + 2150.0 + ], + "start_rot": [ + 15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 15440.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 15440.0, + 2150.0 + ], + "actual_end_rot": [ + 15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 120.0, + 15440.0, + 2150.0 + ], + "start_rot": [ + 15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 15440.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 15440.0, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 120.0, + 15440.0, + 2150.0 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 20.8555, + 15440.0, + 2136.9474 + ], + "actual_end_pos": [ + 20.8555, + 15440.0, + 2136.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 20.8555, + 15440.0, + 2136.9474 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 20.8555, + 15340.0, + 2136.9474 + ], + "actual_end_pos": [ + 20.8555, + 15340.0, + 2136.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 20.8555, + 15340.0, + 2136.9474 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 20.8555, + 15240.0, + 2136.9474 + ], + "actual_end_pos": [ + 20.8555, + 15240.0, + 2136.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 20.8555, + 15240.0, + 2136.9474 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 20.8555, + 15240.0, + 2136.9474 + ], + "actual_end_pos": [ + 20.8555, + 15240.0, + 2136.9474 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 20.8555, + 15240.0, + 2136.9474 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 46.7374, + 15143.4074, + 2136.9474 + ], + "actual_end_pos": [ + 46.7374, + 15143.4074, + 2136.9474 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 46.7374, + 15143.4074, + 2136.9474 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 46.7374, + 15143.4074, + 2136.9474 + ], + "actual_end_pos": [ + 46.7374, + 15143.4074, + 2136.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 46.7374, + 15143.4074, + 2136.9474 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 46.7374, + 15043.4074, + 2136.9474 + ], + "actual_end_pos": [ + 46.7374, + 15043.4074, + 2136.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 46.7374, + 15043.4074, + 2136.9474 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 46.7374, + 15043.4074, + 2136.9474 + ], + "actual_end_pos": [ + 46.7374, + 15043.4074, + 2136.9474 + ], + "actual_end_rot": [ + 15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 46.7374, + 15043.4074, + 2136.9474 + ], + "start_rot": [ + 15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 46.7374, + 15043.4074, + 2136.9474 + ], + "actual_end_pos": [ + 46.7374, + 15043.4074, + 2136.9474 + ], + "actual_end_rot": [ + 15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 46.7374, + 15043.4074, + 2136.9474 + ], + "start_rot": [ + 15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 20.8555, + 15140.0, + 2136.9474 + ], + "actual_end_pos": [ + 20.8555, + 15140.0, + 2136.9474 + ], + "actual_end_rot": [ + 15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 20.8555, + 15140.0, + 2136.9474 + ], + "start_rot": [ + 15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 114.1568, + 15165.0, + 2162.8293 + ], + "actual_end_pos": [ + 114.1568, + 15165.0, + 2162.8293 + ], + "actual_end_rot": [ + 15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 114.1568, + 15165.0, + 2162.8293 + ], + "start_rot": [ + 15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 207.4581, + 15190.0, + 2188.7112 + ], + "actual_end_pos": [ + 207.4581, + 15190.0, + 2188.7112 + ], + "actual_end_rot": [ + 15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 207.4581, + 15190.0, + 2188.7112 + ], + "start_rot": [ + 15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 207.4581, + 15190.0, + 2188.7112 + ], + "actual_end_pos": [ + 207.4581, + 15190.0, + 2188.7112 + ], + "actual_end_rot": [ + 15.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 207.4581, + 15190.0, + 2188.7112 + ], + "start_rot": [ + 15.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + 207.4581, + 15190.0, + 2188.7112 + ], + "actual_end_pos": [ + 207.4581, + 15190.0, + 2188.7112 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 207.4581, + 15190.0, + 2188.7112 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 108.3136, + 15190.0, + 2175.6586 + ], + "actual_end_pos": [ + 108.3136, + 15190.0, + 2175.6586 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 108.3136, + 15190.0, + 2175.6586 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 108.3136, + 15290.0, + 2175.6586 + ], + "actual_end_pos": [ + 108.3136, + 15290.0, + 2175.6586 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 108.3136, + 15290.0, + 2175.6586 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 108.3136, + 15390.0, + 2175.6586 + ], + "actual_end_pos": [ + 108.3136, + 15390.0, + 2175.6586 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 108.3136, + 15390.0, + 2175.6586 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_pos": [ + 108.3136, + 15490.0, + 2175.6586 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004331_meta.json b/loop_easy/run_20260410_184831__traj_004331_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1210e441b33efea7cee8c17e31c55282c5290ffb --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004331_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4331, + "episode_id": 0, + "state_id": 3263, + "sample_index": 3263, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 120.0, + 16040.0, + 2150.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "move_left", + "look_down", + "no_op", + "move_backward", + "look_down", + "turn_left", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_forward", + "no_op", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "no_op", + "move_backward", + "turn_right", + "look_up", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 120.0, + 16040.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 190.7107, + 15969.2893, + 2150.0 + ], + "actual_end_pos": [ + 190.7107, + 15969.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 190.7107, + 15969.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 261.4214, + 15898.5786, + 2150.0 + ], + "actual_end_pos": [ + 261.4214, + 15898.5786, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 261.4214, + 15898.5786, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 332.132, + 15827.868, + 2150.0 + ], + "actual_end_pos": [ + 332.132, + 15827.868, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 332.132, + 15827.868, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 261.4214, + 15757.1573, + 2150.0 + ], + "actual_end_pos": [ + 261.4214, + 15757.1573, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 261.4214, + 15757.1573, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 261.4214, + 15757.1573, + 2150.0 + ], + "actual_end_pos": [ + 261.4214, + 15757.1573, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 261.4214, + 15757.1573, + 2150.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 261.4214, + 15757.1573, + 2150.0 + ], + "actual_end_pos": [ + 261.4214, + 15757.1573, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 261.4214, + 15757.1573, + 2150.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 191.3156, + 15827.263, + 2163.0526 + ], + "actual_end_pos": [ + 191.3156, + 15827.263, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 191.3156, + 15827.263, + 2163.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 191.3156, + 15827.263, + 2163.0526 + ], + "actual_end_pos": [ + 191.3156, + 15827.263, + 2163.0526 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 191.3156, + 15827.263, + 2163.0526 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 191.3156, + 15827.263, + 2163.0526 + ], + "actual_end_pos": [ + 191.3156, + 15827.263, + 2163.0526 + ], + "actual_end_rot": [ + -15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 191.3156, + 15827.263, + 2163.0526 + ], + "start_rot": [ + -15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 191.3156, + 15827.263, + 2163.0526 + ], + "actual_end_pos": [ + 191.3156, + 15827.263, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 191.3156, + 15827.263, + 2163.0526 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 141.7434, + 15913.1247, + 2176.1052 + ], + "actual_end_pos": [ + 141.7434, + 15913.1247, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 141.7434, + 15913.1247, + 2176.1052 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 92.1711, + 15998.9863, + 2189.1579 + ], + "actual_end_pos": [ + 92.1711, + 15998.9863, + 2189.1579 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 92.1711, + 15998.9863, + 2189.1579 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 42.5989, + 16084.848, + 2202.2105 + ], + "actual_end_pos": [ + 42.5989, + 16084.848, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 42.5989, + 16084.848, + 2202.2105 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -6.9734, + 16170.7096, + 2215.2631 + ], + "actual_end_pos": [ + -6.9734, + 16170.7096, + 2215.2631 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -6.9734, + 16170.7096, + 2215.2631 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -93.5759, + 16120.7096, + 2215.2631 + ], + "actual_end_pos": [ + -93.5759, + 16120.7096, + 2215.2631 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -93.5759, + 16120.7096, + 2215.2631 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -44.0037, + 16034.848, + 2202.2105 + ], + "actual_end_pos": [ + -44.0037, + 16034.848, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44.0037, + 16034.848, + 2202.2105 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -44.0037, + 16034.848, + 2202.2105 + ], + "actual_end_pos": [ + -44.0037, + 16034.848, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -44.0037, + 16034.848, + 2202.2105 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 5.5686, + 15948.9863, + 2189.1579 + ], + "actual_end_pos": [ + 5.5686, + 15948.9863, + 2189.1579 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 5.5686, + 15948.9863, + 2189.1579 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 55.1408, + 15863.1247, + 2176.1052 + ], + "actual_end_pos": [ + 55.1408, + 15863.1247, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 55.1408, + 15863.1247, + 2176.1052 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 104.7131, + 15777.263, + 2163.0526 + ], + "actual_end_pos": [ + 104.7131, + 15777.263, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 104.7131, + 15777.263, + 2163.0526 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 191.3156, + 15827.263, + 2163.0526 + ], + "actual_end_pos": [ + 191.3156, + 15827.263, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 191.3156, + 15827.263, + 2163.0526 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 191.3156, + 15827.263, + 2163.0526 + ], + "actual_end_pos": [ + 191.3156, + 15827.263, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 191.3156, + 15827.263, + 2163.0526 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 141.7434, + 15913.1247, + 2176.1052 + ], + "actual_end_pos": [ + 141.7434, + 15913.1247, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 141.7434, + 15913.1247, + 2176.1052 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 141.7434, + 15913.1247, + 2176.1052 + ], + "actual_end_pos": [ + 141.7434, + 15913.1247, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 141.7434, + 15913.1247, + 2176.1052 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 141.7434, + 15913.1247, + 2176.1052 + ], + "actual_end_pos": [ + 141.7434, + 15913.1247, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 141.7434, + 15913.1247, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 71.0327, + 15983.8353, + 2176.1052 + ], + "actual_end_pos": [ + 71.0327, + 15983.8353, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 71.0327, + 15983.8353, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_pos": [ + 141.7434, + 16054.546, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004341_meta.json b/loop_easy/run_20260410_184831__traj_004341_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0976df92aa21712553a88e2fe4c2308e13396c3c --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004341_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4341, + "episode_id": 0, + "state_id": 3270, + "sample_index": 3270, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 120.0, + 16340.0, + 2150.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_left", + "move_forward", + "move_left", + "move_backward", + "look_down", + "move_backward", + "turn_right", + "move_forward", + "move_forward", + "move_left", + "move_left", + "move_left", + "move_forward", + "move_forward", + "look_up", + "no_op", + "move_forward", + "move_right", + "move_backward", + "turn_right", + "look_down", + "move_left", + "no_op", + "turn_left", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 120.0, + 16340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 16240.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 16240.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 120.0, + 16240.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 120.0, + 16240.0, + 2150.0 + ], + "actual_end_pos": [ + 120.0, + 16240.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 120.0, + 16240.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 94.1181, + 16143.4074, + 2150.0 + ], + "actual_end_pos": [ + 94.1181, + 16143.4074, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 94.1181, + 16143.4074, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2.4745, + 16169.2893, + 2150.0 + ], + "actual_end_pos": [ + -2.4745, + 16169.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2.4745, + 16169.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 23.4074, + 16265.8819, + 2150.0 + ], + "actual_end_pos": [ + 23.4074, + 16265.8819, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 23.4074, + 16265.8819, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 23.4074, + 16265.8819, + 2150.0 + ], + "actual_end_pos": [ + 23.4074, + 16265.8819, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 23.4074, + 16265.8819, + 2150.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 49.0679, + 16361.6481, + 2163.0526 + ], + "actual_end_pos": [ + 49.0679, + 16361.6481, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 49.0679, + 16361.6481, + 2163.0526 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 49.0679, + 16361.6481, + 2163.0526 + ], + "actual_end_pos": [ + 49.0679, + 16361.6481, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 49.0679, + 16361.6481, + 2163.0526 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 49.0679, + 16262.5036, + 2150.0 + ], + "actual_end_pos": [ + 49.0679, + 16262.5036, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 49.0679, + 16262.5036, + 2150.0 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 49.0679, + 16163.3592, + 2136.9474 + ], + "actual_end_pos": [ + 49.0679, + 16163.3592, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 49.0679, + 16163.3592, + 2136.9474 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -50.9321, + 16163.3591, + 2136.9474 + ], + "actual_end_pos": [ + -50.9321, + 16163.3591, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -50.9321, + 16163.3591, + 2136.9474 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -150.9321, + 16163.3591, + 2136.9474 + ], + "actual_end_pos": [ + -150.9321, + 16163.3591, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -150.9321, + 16163.3591, + 2136.9474 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -250.9321, + 16163.3591, + 2136.9474 + ], + "actual_end_pos": [ + -250.9321, + 16163.3591, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -250.9321, + 16163.3591, + 2136.9474 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -250.9321, + 16064.2147, + 2123.8948 + ], + "actual_end_pos": [ + -250.9321, + 16064.2147, + 2123.8948 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -250.9321, + 16064.2147, + 2123.8948 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -250.9321, + 15965.0702, + 2110.8421 + ], + "actual_end_pos": [ + -250.9321, + 15965.0702, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -250.9321, + 15965.0702, + 2110.8421 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -250.9321, + 15965.0702, + 2110.8421 + ], + "actual_end_pos": [ + -250.9321, + 15965.0702, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -250.9321, + 15965.0702, + 2110.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -250.9321, + 15965.0702, + 2110.8421 + ], + "actual_end_pos": [ + -250.9321, + 15965.0702, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -250.9321, + 15965.0702, + 2110.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -250.9321, + 15865.0702, + 2110.8421 + ], + "actual_end_pos": [ + -250.9321, + 15865.0702, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -250.9321, + 15865.0702, + 2110.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -150.9321, + 15865.0702, + 2110.8421 + ], + "actual_end_pos": [ + -150.9321, + 15865.0702, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -150.9321, + 15865.0702, + 2110.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -150.9321, + 15965.0702, + 2110.8421 + ], + "actual_end_pos": [ + -150.9321, + 15965.0702, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -150.9321, + 15965.0702, + 2110.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -150.9321, + 15965.0702, + 2110.8421 + ], + "actual_end_pos": [ + -150.9321, + 15965.0702, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -150.9321, + 15965.0702, + 2110.8421 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -150.9321, + 15965.0702, + 2110.8421 + ], + "actual_end_pos": [ + -150.9321, + 15965.0702, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -150.9321, + 15965.0702, + 2110.8421 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -247.5247, + 15939.1883, + 2110.8421 + ], + "actual_end_pos": [ + -247.5247, + 15939.1883, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -247.5247, + 15939.1883, + 2110.8421 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -247.5247, + 15939.1883, + 2110.8421 + ], + "actual_end_pos": [ + -247.5247, + 15939.1883, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -247.5247, + 15939.1883, + 2110.8421 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -247.5247, + 15939.1883, + 2110.8421 + ], + "actual_end_pos": [ + -247.5247, + 15939.1883, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -247.5247, + 15939.1883, + 2110.8421 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -247.5247, + 15939.1883, + 2110.8421 + ], + "actual_end_pos": [ + -247.5247, + 15939.1883, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -247.5247, + 15939.1883, + 2110.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -247.5247, + 16039.1883, + 2110.8421 + ], + "actual_end_pos": [ + -247.5247, + 16039.1883, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -247.5247, + 16039.1883, + 2110.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -247.5247, + 16139.1883, + 2110.8421 + ], + "actual_end_pos": [ + -247.5247, + 16139.1883, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -247.5247, + 16139.1883, + 2110.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -247.5247, + 16239.1883, + 2110.8421 + ], + "actual_end_pos": [ + -247.5247, + 16239.1883, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -247.5247, + 16239.1883, + 2110.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -247.5247, + 16339.1883, + 2110.8421 + ], + "actual_end_pos": [ + -247.5247, + 16339.1883, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -247.5247, + 16339.1883, + 2110.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -147.5247, + 16339.1883, + 2110.8421 + ], + "actual_end_pos": [ + -147.5247, + 16339.1883, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -147.5247, + 16339.1883, + 2110.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -47.5247, + 16339.1883, + 2110.8421 + ], + "actual_end_pos": [ + -47.5247, + 16339.1883, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -47.5247, + 16339.1883, + 2110.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 52.4753, + 16339.1883, + 2110.8421 + ], + "actual_end_pos": [ + 52.4753, + 16339.1883, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 52.4753, + 16339.1883, + 2110.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 152.4753, + 16339.1883, + 2110.8421 + ], + "actual_end_pos": [ + 152.4753, + 16339.1883, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 152.4753, + 16339.1883, + 2110.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 152.4753, + 16339.1883, + 2110.8421 + ], + "actual_end_pos": [ + 152.4753, + 16339.1883, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 152.4753, + 16339.1883, + 2110.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 152.4753, + 16339.1883, + 2110.8421 + ], + "actual_end_pos": [ + 152.4753, + 16339.1883, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 152.4753, + 16339.1883, + 2110.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 152.4753, + 16339.1883, + 2110.8421 + ], + "actual_end_pos": [ + 152.4753, + 16339.1883, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 152.4753, + 16339.1883, + 2110.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 152.4753, + 16339.1883, + 2110.8421 + ], + "actual_end_pos": [ + 152.4753, + 16339.1883, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 152.4753, + 16339.1883, + 2110.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 152.4753, + 16339.1883, + 2110.8421 + ], + "actual_end_pos": [ + 152.4753, + 16339.1883, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 152.4753, + 16339.1883, + 2110.8421 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 152.4753, + 16339.1883, + 2110.8421 + ], + "actual_end_pos": [ + 152.4753, + 16339.1883, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004593_meta.json b/loop_easy/run_20260410_184831__traj_004593_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7cd78fa192f664761597d200d64a175dc60bd07b --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004593_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4593, + "episode_id": 0, + "state_id": 3442, + "sample_index": 3442, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 420.0, + 15140.0, + 2150.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "turn_right", + "move_backward", + "look_up", + "move_right", + "move_forward", + "no_op", + "move_forward", + "move_left", + "move_forward", + "move_right", + "move_forward", + "look_up", + "move_left", + "move_forward", + "move_forward", + "move_right", + "turn_left", + "look_down", + "move_backward", + "move_backward", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 420.0, + 15140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 420.0, + 15040.0, + 2150.0 + ], + "actual_end_pos": [ + 420.0, + 15040.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 420.0, + 15040.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 420.0, + 14940.0, + 2150.0 + ], + "actual_end_pos": [ + 420.0, + 14940.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 420.0, + 14940.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 420.0, + 14940.0, + 2150.0 + ], + "actual_end_pos": [ + 420.0, + 14940.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 420.0, + 14940.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 445.8819, + 14843.4074, + 2150.0 + ], + "actual_end_pos": [ + 445.8819, + 14843.4074, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 445.8819, + 14843.4074, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 445.8819, + 14843.4074, + 2150.0 + ], + "actual_end_pos": [ + 445.8819, + 14843.4074, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 445.8819, + 14843.4074, + 2150.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 349.2893, + 14817.5255, + 2150.0 + ], + "actual_end_pos": [ + 349.2893, + 14817.5255, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 349.2893, + 14817.5255, + 2150.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 323.6288, + 14913.2917, + 2163.0526 + ], + "actual_end_pos": [ + 323.6288, + 14913.2917, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 323.6288, + 14913.2917, + 2163.0526 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 323.6288, + 14913.2917, + 2163.0526 + ], + "actual_end_pos": [ + 323.6288, + 14913.2917, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 323.6288, + 14913.2917, + 2163.0526 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 297.9684, + 15009.058, + 2176.1052 + ], + "actual_end_pos": [ + 297.9684, + 15009.058, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 297.9684, + 15009.058, + 2176.1052 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 394.5609, + 15034.9399, + 2176.1052 + ], + "actual_end_pos": [ + 394.5609, + 15034.9399, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 394.5609, + 15034.9399, + 2176.1052 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 368.9005, + 15130.7061, + 2189.1579 + ], + "actual_end_pos": [ + 368.9005, + 15130.7061, + 2189.1579 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 368.9005, + 15130.7061, + 2189.1579 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 272.3079, + 15104.8242, + 2189.1579 + ], + "actual_end_pos": [ + 272.3079, + 15104.8242, + 2189.1579 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 272.3079, + 15104.8242, + 2189.1579 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 246.6474, + 15200.5904, + 2202.2105 + ], + "actual_end_pos": [ + 246.6474, + 15200.5904, + 2202.2105 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 246.6474, + 15200.5904, + 2202.2105 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 246.6474, + 15200.5904, + 2202.2105 + ], + "actual_end_pos": [ + 246.6474, + 15200.5904, + 2202.2105 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 246.6474, + 15200.5904, + 2202.2105 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 343.24, + 15226.4723, + 2202.2105 + ], + "actual_end_pos": [ + 343.24, + 15226.4723, + 2202.2105 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 343.24, + 15226.4723, + 2202.2105 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 318.24, + 15319.7736, + 2228.0924 + ], + "actual_end_pos": [ + 318.24, + 15319.7736, + 2228.0924 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 318.24, + 15319.7736, + 2228.0924 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 293.24, + 15413.0748, + 2253.9743 + ], + "actual_end_pos": [ + 293.24, + 15413.0748, + 2253.9743 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 293.24, + 15413.0748, + 2253.9743 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 196.6474, + 15387.1929, + 2253.9743 + ], + "actual_end_pos": [ + 196.6474, + 15387.1929, + 2253.9743 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 196.6474, + 15387.1929, + 2253.9743 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 196.6474, + 15387.1929, + 2253.9743 + ], + "actual_end_pos": [ + 196.6474, + 15387.1929, + 2253.9743 + ], + "actual_end_rot": [ + 15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 196.6474, + 15387.1929, + 2253.9743 + ], + "start_rot": [ + 15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 196.6474, + 15387.1929, + 2253.9743 + ], + "actual_end_pos": [ + 196.6474, + 15387.1929, + 2253.9743 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 196.6474, + 15387.1929, + 2253.9743 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 196.6474, + 15288.0484, + 2240.9217 + ], + "actual_end_pos": [ + 196.6474, + 15288.0484, + 2240.9217 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 196.6474, + 15288.0484, + 2240.9217 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 196.6474, + 15188.904, + 2227.869 + ], + "actual_end_pos": [ + 196.6474, + 15188.904, + 2227.869 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 196.6474, + 15188.904, + 2227.869 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 296.6474, + 15188.904, + 2227.869 + ], + "actual_end_pos": [ + 296.6474, + 15188.904, + 2227.869 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 296.6474, + 15188.904, + 2227.869 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_pos": [ + 396.6474, + 15188.904, + 2227.869 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004596_meta.json b/loop_easy/run_20260410_184831__traj_004596_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2595bb46098f42f8ffe1bac4a5a1353f2d4e8d0c --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004596_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4596, + "episode_id": 0, + "state_id": 3445, + "sample_index": 3445, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 420.0, + 15140.0, + 2150.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "turn_right", + "look_down", + "move_left", + "move_backward", + "turn_left", + "turn_left", + "move_forward", + "move_left", + "move_right", + "move_right", + "move_right", + "move_right", + "look_up", + "move_left", + "turn_left", + "move_forward", + "turn_right", + "move_left", + "look_down", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "look_down", + "turn_right", + "look_up", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 420.0, + 15140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 490.7107, + 15069.2893, + 2150.0 + ], + "actual_end_pos": [ + 490.7107, + 15069.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 490.7107, + 15069.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 561.4214, + 14998.5786, + 2150.0 + ], + "actual_end_pos": [ + 561.4214, + 14998.5786, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 561.4214, + 14998.5786, + 2150.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 561.4214, + 14998.5786, + 2150.0 + ], + "actual_end_pos": [ + 561.4214, + 14998.5786, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 561.4214, + 14998.5786, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 561.4214, + 14998.5786, + 2150.0 + ], + "actual_end_pos": [ + 561.4214, + 14998.5786, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 561.4214, + 14998.5786, + 2150.0 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 474.8188, + 15048.5786, + 2150.0 + ], + "actual_end_pos": [ + 474.8188, + 15048.5786, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 474.8188, + 15048.5786, + 2150.0 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 524.3911, + 15134.4403, + 2163.0526 + ], + "actual_end_pos": [ + 524.3911, + 15134.4403, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 524.3911, + 15134.4403, + 2163.0526 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 524.3911, + 15134.4403, + 2163.0526 + ], + "actual_end_pos": [ + 524.3911, + 15134.4403, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 524.3911, + 15134.4403, + 2163.0526 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 524.3911, + 15134.4403, + 2163.0526 + ], + "actual_end_pos": [ + 524.3911, + 15134.4403, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 524.3911, + 15134.4403, + 2163.0526 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 438.5294, + 15084.868, + 2150.0 + ], + "actual_end_pos": [ + 438.5294, + 15084.868, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 438.5294, + 15084.868, + 2150.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 388.5294, + 15171.4706, + 2150.0 + ], + "actual_end_pos": [ + 388.5294, + 15171.4706, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 388.5294, + 15171.4706, + 2150.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 438.5294, + 15084.868, + 2150.0 + ], + "actual_end_pos": [ + 438.5294, + 15084.868, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 438.5294, + 15084.868, + 2150.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 488.5294, + 14998.2655, + 2150.0 + ], + "actual_end_pos": [ + 488.5294, + 14998.2655, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 488.5294, + 14998.2655, + 2150.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 538.5294, + 14911.663, + 2150.0 + ], + "actual_end_pos": [ + 538.5294, + 14911.663, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 538.5294, + 14911.663, + 2150.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 588.5294, + 14825.0604, + 2150.0 + ], + "actual_end_pos": [ + 588.5294, + 14825.0604, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 588.5294, + 14825.0604, + 2150.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 588.5294, + 14825.0604, + 2150.0 + ], + "actual_end_pos": [ + 588.5294, + 14825.0604, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 588.5294, + 14825.0604, + 2150.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 538.5294, + 14911.663, + 2150.0 + ], + "actual_end_pos": [ + 538.5294, + 14911.663, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 538.5294, + 14911.663, + 2150.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 538.5294, + 14911.663, + 2150.0 + ], + "actual_end_pos": [ + 538.5294, + 14911.663, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 538.5294, + 14911.663, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 441.9368, + 14885.7811, + 2150.0 + ], + "actual_end_pos": [ + 441.9368, + 14885.7811, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 441.9368, + 14885.7811, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 441.9368, + 14885.7811, + 2150.0 + ], + "actual_end_pos": [ + 441.9368, + 14885.7811, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 441.9368, + 14885.7811, + 2150.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 391.9368, + 14972.3836, + 2150.0 + ], + "actual_end_pos": [ + 391.9368, + 14972.3836, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 391.9368, + 14972.3836, + 2150.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 391.9368, + 14972.3836, + 2150.0 + ], + "actual_end_pos": [ + 391.9368, + 14972.3836, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 391.9368, + 14972.3836, + 2150.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 306.0752, + 14922.8114, + 2136.9474 + ], + "actual_end_pos": [ + 306.0752, + 14922.8114, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 306.0752, + 14922.8114, + 2136.9474 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 220.2136, + 14873.2391, + 2123.8948 + ], + "actual_end_pos": [ + 220.2136, + 14873.2391, + 2123.8948 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 220.2136, + 14873.2391, + 2123.8948 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 134.3519, + 14823.6669, + 2110.8421 + ], + "actual_end_pos": [ + 134.3519, + 14823.6669, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 134.3519, + 14823.6669, + 2110.8421 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 48.4903, + 14774.0946, + 2097.7895 + ], + "actual_end_pos": [ + 48.4903, + 14774.0946, + 2097.7895 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 48.4903, + 14774.0946, + 2097.7895 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 48.4903, + 14774.0946, + 2097.7895 + ], + "actual_end_pos": [ + 48.4903, + 14774.0946, + 2097.7895 + ], + "actual_end_rot": [ + -15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 48.4903, + 14774.0946, + 2097.7895 + ], + "start_rot": [ + -15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 48.4903, + 14774.0946, + 2097.7895 + ], + "actual_end_pos": [ + 48.4903, + 14774.0946, + 2097.7895 + ], + "actual_end_rot": [ + -15.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 48.4903, + 14774.0946, + 2097.7895 + ], + "start_rot": [ + -15.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 48.4903, + 14774.0946, + 2097.7895 + ], + "actual_end_pos": [ + 48.4903, + 14774.0946, + 2097.7895 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 48.4903, + 14774.0946, + 2097.7895 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 48.4903, + 14774.0946, + 2097.7895 + ], + "actual_end_pos": [ + 48.4903, + 14774.0946, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 48.4903, + 14774.0946, + 2097.7895 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 119.2009, + 14844.8053, + 2097.7895 + ], + "actual_end_pos": [ + 119.2009, + 14844.8053, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 119.2009, + 14844.8053, + 2097.7895 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 189.9116, + 14915.516, + 2097.7895 + ], + "actual_end_pos": [ + 189.9116, + 14915.516, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 189.9116, + 14915.516, + 2097.7895 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 260.6223, + 14986.2267, + 2097.7895 + ], + "actual_end_pos": [ + 260.6223, + 14986.2267, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 260.6223, + 14986.2267, + 2097.7895 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 331.333, + 15056.9373, + 2097.7895 + ], + "actual_end_pos": [ + 331.333, + 15056.9373, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 331.333, + 15056.9373, + 2097.7895 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 402.0436, + 15127.648, + 2097.7895 + ], + "actual_end_pos": [ + 402.0436, + 15127.648, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 402.0436, + 15127.648, + 2097.7895 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 402.0436, + 15127.648, + 2097.7895 + ], + "actual_end_pos": [ + 402.0436, + 15127.648, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 402.0436, + 15127.648, + 2097.7895 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 402.0436, + 15127.648, + 2097.7895 + ], + "actual_end_pos": [ + 402.0436, + 15127.648, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 402.0436, + 15127.648, + 2097.7895 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 402.0436, + 15127.648, + 2097.7895 + ], + "actual_end_pos": [ + 402.0436, + 15127.648, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 402.0436, + 15127.648, + 2097.7895 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 402.0436, + 15127.648, + 2097.7895 + ], + "actual_end_pos": [ + 402.0436, + 15127.648, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 402.0436, + 15127.648, + 2097.7895 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 402.0436, + 15127.648, + 2097.7895 + ], + "actual_end_pos": [ + 402.0436, + 15127.648, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 402.0436, + 15127.648, + 2097.7895 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 402.0436, + 15127.648, + 2097.7895 + ], + "actual_end_pos": [ + 402.0436, + 15127.648, + 2097.7895 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004597_meta.json b/loop_easy/run_20260410_184831__traj_004597_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0db37d8cca1c7ff7dc3483b4d4f89f4a87a00902 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004597_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4597, + "episode_id": 0, + "state_id": 3446, + "sample_index": 3446, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 420.0, + 15140.0, + 2150.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_right", + "look_up", + "move_right", + "no_op", + "move_left", + "look_down", + "move_backward", + "turn_right", + "turn_right", + "move_right", + "turn_left", + "move_forward", + "turn_right", + "move_forward", + "move_left", + "move_left", + "move_forward", + "turn_right", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 420.0, + 15140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 420.0, + 15140.0, + 2150.0 + ], + "actual_end_pos": [ + 420.0, + 15140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 420.0, + 15140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 516.5926, + 15165.8819, + 2150.0 + ], + "actual_end_pos": [ + 516.5926, + 15165.8819, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 516.5926, + 15165.8819, + 2150.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 516.5926, + 15165.8819, + 2150.0 + ], + "actual_end_pos": [ + 516.5926, + 15165.8819, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 516.5926, + 15165.8819, + 2150.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 613.1852, + 15191.7638, + 2150.0 + ], + "actual_end_pos": [ + 613.1852, + 15191.7638, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 613.1852, + 15191.7638, + 2150.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 613.1852, + 15191.7638, + 2150.0 + ], + "actual_end_pos": [ + 613.1852, + 15191.7638, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 613.1852, + 15191.7638, + 2150.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 516.5926, + 15165.8819, + 2150.0 + ], + "actual_end_pos": [ + 516.5926, + 15165.8819, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 516.5926, + 15165.8819, + 2150.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 516.5926, + 15165.8819, + 2150.0 + ], + "actual_end_pos": [ + 516.5926, + 15165.8819, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 516.5926, + 15165.8819, + 2150.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 490.7107, + 15262.4745, + 2150.0 + ], + "actual_end_pos": [ + 490.7107, + 15262.4745, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 490.7107, + 15262.4745, + 2150.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 490.7107, + 15262.4745, + 2150.0 + ], + "actual_end_pos": [ + 490.7107, + 15262.4745, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 490.7107, + 15262.4745, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 490.7107, + 15262.4745, + 2150.0 + ], + "actual_end_pos": [ + 490.7107, + 15262.4745, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 490.7107, + 15262.4745, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 561.4214, + 15333.1852, + 2150.0 + ], + "actual_end_pos": [ + 561.4214, + 15333.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 561.4214, + 15333.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 561.4214, + 15333.1852, + 2150.0 + ], + "actual_end_pos": [ + 561.4214, + 15333.1852, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 561.4214, + 15333.1852, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 611.4214, + 15246.5826, + 2150.0 + ], + "actual_end_pos": [ + 611.4214, + 15246.5826, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 611.4214, + 15246.5826, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 611.4214, + 15246.5826, + 2150.0 + ], + "actual_end_pos": [ + 611.4214, + 15246.5826, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 611.4214, + 15246.5826, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 682.132, + 15175.8719, + 2150.0 + ], + "actual_end_pos": [ + 682.132, + 15175.8719, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 682.132, + 15175.8719, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 611.4214, + 15105.1613, + 2150.0 + ], + "actual_end_pos": [ + 611.4214, + 15105.1613, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 611.4214, + 15105.1613, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 540.7107, + 15034.4506, + 2150.0 + ], + "actual_end_pos": [ + 540.7107, + 15034.4506, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 540.7107, + 15034.4506, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 611.4214, + 14963.7399, + 2150.0 + ], + "actual_end_pos": [ + 611.4214, + 14963.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 611.4214, + 14963.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 611.4214, + 14963.7399, + 2150.0 + ], + "actual_end_pos": [ + 611.4214, + 14963.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 611.4214, + 14963.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 611.4214, + 14963.7399, + 2150.0 + ], + "actual_end_pos": [ + 611.4214, + 14963.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 611.4214, + 14963.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 611.4214, + 14963.7399, + 2150.0 + ], + "actual_end_pos": [ + 611.4214, + 14963.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 611.4214, + 14963.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 611.4214, + 14963.7399, + 2150.0 + ], + "actual_end_pos": [ + 611.4214, + 14963.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 611.4214, + 14963.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 611.4214, + 14963.7399, + 2150.0 + ], + "actual_end_pos": [ + 611.4214, + 14963.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 611.4214, + 14963.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 611.4214, + 15063.7399, + 2150.0 + ], + "actual_end_pos": [ + 611.4214, + 15063.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 611.4214, + 15063.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 611.4214, + 15163.7399, + 2150.0 + ], + "actual_end_pos": [ + 611.4214, + 15163.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 611.4214, + 15163.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 511.4214, + 15163.7399, + 2150.0 + ], + "actual_end_pos": [ + 511.4214, + 15163.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 511.4214, + 15163.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_pos": [ + 411.4214, + 15163.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004598_meta.json b/loop_easy/run_20260410_184831__traj_004598_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6c4047815e0d929b6e704f55de39e696509b3e1c --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004598_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4598, + "episode_id": 0, + "state_id": 3447, + "sample_index": 3447, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 420.0, + 15140.0, + 2150.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_left", + "move_right", + "turn_right", + "move_backward", + "move_left", + "no_op", + "move_forward", + "turn_right", + "move_backward", + "turn_left", + "move_left", + "move_forward", + "turn_left", + "look_down", + "move_backward", + "look_up", + "move_left", + "turn_left", + "turn_right", + "move_left", + "move_left", + "move_left", + "turn_left", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 420.0, + 15140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 420.0, + 15140.0, + 2150.0 + ], + "actual_end_pos": [ + 420.0, + 15140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 420.0, + 15140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 370.0, + 15053.3975, + 2150.0 + ], + "actual_end_pos": [ + 370.0, + 15053.3975, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 370.0, + 15053.3975, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 420.0, + 15140.0, + 2150.0 + ], + "actual_end_pos": [ + 420.0, + 15140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 420.0, + 15140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 420.0, + 15140.0, + 2150.0 + ], + "actual_end_pos": [ + 420.0, + 15140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 420.0, + 15140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 323.4074, + 15165.8819, + 2150.0 + ], + "actual_end_pos": [ + 323.4074, + 15165.8819, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 323.4074, + 15165.8819, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 297.5255, + 15069.2893, + 2150.0 + ], + "actual_end_pos": [ + 297.5255, + 15069.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 297.5255, + 15069.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 297.5255, + 15069.2893, + 2150.0 + ], + "actual_end_pos": [ + 297.5255, + 15069.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 297.5255, + 15069.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 394.1181, + 15043.4074, + 2150.0 + ], + "actual_end_pos": [ + 394.1181, + 15043.4074, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 394.1181, + 15043.4074, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 394.1181, + 15043.4074, + 2150.0 + ], + "actual_end_pos": [ + 394.1181, + 15043.4074, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 394.1181, + 15043.4074, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 294.1181, + 15043.4074, + 2150.0 + ], + "actual_end_pos": [ + 294.1181, + 15043.4074, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 294.1181, + 15043.4074, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 294.1181, + 15043.4074, + 2150.0 + ], + "actual_end_pos": [ + 294.1181, + 15043.4074, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 294.1181, + 15043.4074, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 268.2362, + 14946.8148, + 2150.0 + ], + "actual_end_pos": [ + 268.2362, + 14946.8148, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 268.2362, + 14946.8148, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 364.8288, + 14920.9329, + 2150.0 + ], + "actual_end_pos": [ + 364.8288, + 14920.9329, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 364.8288, + 14920.9329, + 2150.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 364.8288, + 14920.9329, + 2150.0 + ], + "actual_end_pos": [ + 364.8288, + 14920.9329, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 364.8288, + 14920.9329, + 2150.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 364.8288, + 14920.9329, + 2150.0 + ], + "actual_end_pos": [ + 364.8288, + 14920.9329, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 364.8288, + 14920.9329, + 2150.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 278.9671, + 14970.5052, + 2163.0526 + ], + "actual_end_pos": [ + 278.9671, + 14970.5052, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 278.9671, + 14970.5052, + 2163.0526 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 278.9671, + 14970.5052, + 2163.0526 + ], + "actual_end_pos": [ + 278.9671, + 14970.5052, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 278.9671, + 14970.5052, + 2163.0526 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 228.9671, + 14883.9026, + 2163.0526 + ], + "actual_end_pos": [ + 228.9671, + 14883.9026, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 228.9671, + 14883.9026, + 2163.0526 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 228.9671, + 14883.9026, + 2163.0526 + ], + "actual_end_pos": [ + 228.9671, + 14883.9026, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 228.9671, + 14883.9026, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 228.9671, + 14883.9026, + 2163.0526 + ], + "actual_end_pos": [ + 228.9671, + 14883.9026, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 228.9671, + 14883.9026, + 2163.0526 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 178.9671, + 14797.3001, + 2163.0526 + ], + "actual_end_pos": [ + 178.9671, + 14797.3001, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 178.9671, + 14797.3001, + 2163.0526 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 128.9671, + 14710.6976, + 2163.0526 + ], + "actual_end_pos": [ + 128.9671, + 14710.6976, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 128.9671, + 14710.6976, + 2163.0526 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 78.9671, + 14624.095, + 2163.0526 + ], + "actual_end_pos": [ + 78.9671, + 14624.095, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 78.9671, + 14624.095, + 2163.0526 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 78.9671, + 14624.095, + 2163.0526 + ], + "actual_end_pos": [ + 78.9671, + 14624.095, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 78.9671, + 14624.095, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 8.2565, + 14694.8057, + 2163.0526 + ], + "actual_end_pos": [ + 8.2565, + 14694.8057, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 8.2565, + 14694.8057, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 78.9671, + 14765.5164, + 2163.0526 + ], + "actual_end_pos": [ + 78.9671, + 14765.5164, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 78.9671, + 14765.5164, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 149.6778, + 14836.227, + 2163.0526 + ], + "actual_end_pos": [ + 149.6778, + 14836.227, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 149.6778, + 14836.227, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 220.3885, + 14906.9377, + 2163.0526 + ], + "actual_end_pos": [ + 220.3885, + 14906.9377, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 220.3885, + 14906.9377, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 291.0992, + 14977.6484, + 2163.0526 + ], + "actual_end_pos": [ + 291.0992, + 14977.6484, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 291.0992, + 14977.6484, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 361.8098, + 15048.3591, + 2163.0526 + ], + "actual_end_pos": [ + 361.8098, + 15048.3591, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 361.8098, + 15048.3591, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "actual_end_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "actual_end_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "actual_end_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "actual_end_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "actual_end_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "actual_end_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "actual_end_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "actual_end_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "actual_end_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "actual_end_pos": [ + 432.5205, + 15119.0698, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004610_meta.json b/loop_easy/run_20260410_184831__traj_004610_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..37cab54e46798a61f2e8c27dba5696b8804a5a61 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004610_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4610, + "episode_id": 0, + "state_id": 3456, + "sample_index": 3456, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 420.0, + 15740.0, + 2150.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_right", + "move_forward", + "look_down", + "move_backward", + "look_down", + "turn_left", + "turn_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_backward", + "move_right", + "no_op", + "look_down", + "look_down", + "no_op", + "turn_left", + "move_right", + "turn_right", + "move_forward", + "turn_left", + "turn_left", + "move_left", + "turn_right", + "move_forward", + "turn_left", + "look_up", + "look_up", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 420.0, + 15740.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 520.0, + 15740.0, + 2150.0 + ], + "actual_end_pos": [ + 520.0, + 15740.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 520.0, + 15740.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 520.0, + 15740.0, + 2150.0 + ], + "actual_end_pos": [ + 520.0, + 15740.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 520.0, + 15740.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 616.5926, + 15765.8819, + 2150.0 + ], + "actual_end_pos": [ + 616.5926, + 15765.8819, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 616.5926, + 15765.8819, + 2150.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 616.5926, + 15765.8819, + 2150.0 + ], + "actual_end_pos": [ + 616.5926, + 15765.8819, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 616.5926, + 15765.8819, + 2150.0 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 520.8264, + 15740.2214, + 2163.0526 + ], + "actual_end_pos": [ + 520.8264, + 15740.2214, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 520.8264, + 15740.2214, + 2163.0526 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 520.8264, + 15740.2214, + 2163.0526 + ], + "actual_end_pos": [ + 520.8264, + 15740.2214, + 2163.0526 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 520.8264, + 15740.2214, + 2163.0526 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 520.8264, + 15740.2214, + 2163.0526 + ], + "actual_end_pos": [ + 520.8264, + 15740.2214, + 2163.0526 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 520.8264, + 15740.2214, + 2163.0526 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 520.8264, + 15740.2214, + 2163.0526 + ], + "actual_end_pos": [ + 520.8264, + 15740.2214, + 2163.0526 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 520.8264, + 15740.2214, + 2163.0526 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 494.9445, + 15643.6288, + 2163.0526 + ], + "actual_end_pos": [ + 494.9445, + 15643.6288, + 2163.0526 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 494.9445, + 15643.6288, + 2163.0526 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 494.9445, + 15643.6288, + 2163.0526 + ], + "actual_end_pos": [ + 494.9445, + 15643.6288, + 2163.0526 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 494.9445, + 15643.6288, + 2163.0526 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 494.9445, + 15643.6288, + 2163.0526 + ], + "actual_end_pos": [ + 494.9445, + 15643.6288, + 2163.0526 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 494.9445, + 15643.6288, + 2163.0526 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 494.9445, + 15643.6288, + 2163.0526 + ], + "actual_end_pos": [ + 494.9445, + 15643.6288, + 2163.0526 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 494.9445, + 15643.6288, + 2163.0526 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 544.9445, + 15557.0263, + 2163.0526 + ], + "actual_end_pos": [ + 544.9445, + 15557.0263, + 2163.0526 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 544.9445, + 15557.0263, + 2163.0526 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 461.2928, + 15508.73, + 2188.9345 + ], + "actual_end_pos": [ + 461.2928, + 15508.73, + 2188.9345 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 461.2928, + 15508.73, + 2188.9345 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 411.2928, + 15595.3325, + 2188.9345 + ], + "actual_end_pos": [ + 411.2928, + 15595.3325, + 2188.9345 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 411.2928, + 15595.3325, + 2188.9345 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 411.2928, + 15595.3325, + 2188.9345 + ], + "actual_end_pos": [ + 411.2928, + 15595.3325, + 2188.9345 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 411.2928, + 15595.3325, + 2188.9345 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 411.2928, + 15595.3325, + 2188.9345 + ], + "actual_end_pos": [ + 411.2928, + 15595.3325, + 2188.9345 + ], + "actual_end_rot": [ + -22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 411.2928, + 15595.3325, + 2188.9345 + ], + "start_rot": [ + -22.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 411.2928, + 15595.3325, + 2188.9345 + ], + "actual_end_pos": [ + 411.2928, + 15595.3325, + 2188.9345 + ], + "actual_end_rot": [ + -30.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 411.2928, + 15595.3325, + 2188.9345 + ], + "start_rot": [ + -30.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 411.2928, + 15595.3325, + 2188.9345 + ], + "actual_end_pos": [ + 411.2928, + 15595.3325, + 2188.9345 + ], + "actual_end_rot": [ + -30.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 411.2928, + 15595.3325, + 2188.9345 + ], + "start_rot": [ + -30.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 411.2928, + 15595.3325, + 2188.9345 + ], + "actual_end_pos": [ + 411.2928, + 15595.3325, + 2188.9345 + ], + "actual_end_rot": [ + -30.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 411.2928, + 15595.3325, + 2188.9345 + ], + "start_rot": [ + -30.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 385.4109, + 15691.9251, + 2188.9345 + ], + "actual_end_pos": [ + 385.4109, + 15691.9251, + 2188.9345 + ], + "actual_end_rot": [ + -30.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 385.4109, + 15691.9251, + 2188.9345 + ], + "start_rot": [ + -30.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 385.4109, + 15691.9251, + 2188.9345 + ], + "actual_end_pos": [ + 385.4109, + 15691.9251, + 2188.9345 + ], + "actual_end_rot": [ + -30.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 385.4109, + 15691.9251, + 2188.9345 + ], + "start_rot": [ + -30.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 460.4109, + 15735.2264, + 2138.9345 + ], + "actual_end_pos": [ + 460.4109, + 15735.2264, + 2138.9345 + ], + "actual_end_rot": [ + -30.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 460.4109, + 15735.2264, + 2138.9345 + ], + "start_rot": [ + -30.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 460.4109, + 15735.2264, + 2138.9345 + ], + "actual_end_pos": [ + 460.4109, + 15735.2264, + 2138.9345 + ], + "actual_end_rot": [ + -30.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 460.4109, + 15735.2264, + 2138.9345 + ], + "start_rot": [ + -30.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 460.4109, + 15735.2264, + 2138.9345 + ], + "actual_end_pos": [ + 460.4109, + 15735.2264, + 2138.9345 + ], + "actual_end_rot": [ + -30.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 460.4109, + 15735.2264, + 2138.9345 + ], + "start_rot": [ + -30.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 460.4109, + 15635.2264, + 2138.9345 + ], + "actual_end_pos": [ + 460.4109, + 15635.2264, + 2138.9345 + ], + "actual_end_rot": [ + -30.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 460.4109, + 15635.2264, + 2138.9345 + ], + "start_rot": [ + -30.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 460.4109, + 15635.2264, + 2138.9345 + ], + "actual_end_pos": [ + 460.4109, + 15635.2264, + 2138.9345 + ], + "actual_end_rot": [ + -30.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 460.4109, + 15635.2264, + 2138.9345 + ], + "start_rot": [ + -30.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 544.0626, + 15657.6408, + 2088.9345 + ], + "actual_end_pos": [ + 544.0626, + 15657.6408, + 2088.9345 + ], + "actual_end_rot": [ + -30.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 544.0626, + 15657.6408, + 2088.9345 + ], + "start_rot": [ + -30.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 544.0626, + 15657.6408, + 2088.9345 + ], + "actual_end_pos": [ + 544.0626, + 15657.6408, + 2088.9345 + ], + "actual_end_rot": [ + -30.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 544.0626, + 15657.6408, + 2088.9345 + ], + "start_rot": [ + -30.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 544.0626, + 15657.6408, + 2088.9345 + ], + "actual_end_pos": [ + 544.0626, + 15657.6408, + 2088.9345 + ], + "actual_end_rot": [ + -22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 544.0626, + 15657.6408, + 2088.9345 + ], + "start_rot": [ + -22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 544.0626, + 15657.6408, + 2088.9345 + ], + "actual_end_pos": [ + 544.0626, + 15657.6408, + 2088.9345 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 544.0626, + 15657.6408, + 2088.9345 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 447.47, + 15657.6408, + 2114.8164 + ], + "actual_end_pos": [ + 447.47, + 15657.6408, + 2114.8164 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 447.47, + 15657.6408, + 2114.8164 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "actual_end_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "actual_end_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "actual_end_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "actual_end_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "actual_end_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "actual_end_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "actual_end_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "actual_end_pos": [ + 447.47, + 15757.6408, + 2114.8164 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004621_meta.json b/loop_easy/run_20260410_184831__traj_004621_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d077a14622a89cb42f0cafc024298e3bb44a437a --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004621_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4621, + "episode_id": 0, + "state_id": 3465, + "sample_index": 3465, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 420.0, + 16040.0, + 2150.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_forward", + "turn_left", + "move_left", + "move_backward", + "move_left", + "turn_left", + "move_forward", + "move_right", + "turn_right", + "move_backward", + "move_right", + "no_op", + "move_right", + "move_forward", + "no_op", + "move_forward", + "move_right", + "no_op", + "move_left", + "look_down", + "turn_right", + "turn_right", + "move_backward", + "move_left", + "turn_left", + "look_up", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 420.0, + 16040.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 349.2893, + 15969.2893, + 2150.0 + ], + "actual_end_pos": [ + 349.2893, + 15969.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 349.2893, + 15969.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 278.5786, + 15898.5786, + 2150.0 + ], + "actual_end_pos": [ + 278.5786, + 15898.5786, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 278.5786, + 15898.5786, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 349.2893, + 15827.868, + 2150.0 + ], + "actual_end_pos": [ + 349.2893, + 15827.868, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 349.2893, + 15827.868, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 420.0, + 15757.1573, + 2150.0 + ], + "actual_end_pos": [ + 420.0, + 15757.1573, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 420.0, + 15757.1573, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 490.7107, + 15827.868, + 2150.0 + ], + "actual_end_pos": [ + 490.7107, + 15827.868, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 490.7107, + 15827.868, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 490.7107, + 15827.868, + 2150.0 + ], + "actual_end_pos": [ + 490.7107, + 15827.868, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 490.7107, + 15827.868, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 540.7107, + 15741.2654, + 2150.0 + ], + "actual_end_pos": [ + 540.7107, + 15741.2654, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 540.7107, + 15741.2654, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 454.1081, + 15691.2654, + 2150.0 + ], + "actual_end_pos": [ + 454.1081, + 15691.2654, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 454.1081, + 15691.2654, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 504.1081, + 15604.6629, + 2150.0 + ], + "actual_end_pos": [ + 504.1081, + 15604.6629, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 504.1081, + 15604.6629, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 504.1081, + 15604.6629, + 2150.0 + ], + "actual_end_pos": [ + 504.1081, + 15604.6629, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 504.1081, + 15604.6629, + 2150.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 600.7007, + 15630.5448, + 2150.0 + ], + "actual_end_pos": [ + 600.7007, + 15630.5448, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 600.7007, + 15630.5448, + 2150.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 574.8188, + 15727.1374, + 2150.0 + ], + "actual_end_pos": [ + 574.8188, + 15727.1374, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 574.8188, + 15727.1374, + 2150.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 574.8188, + 15727.1374, + 2150.0 + ], + "actual_end_pos": [ + 574.8188, + 15727.1374, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 574.8188, + 15727.1374, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 488.2163, + 15677.1374, + 2150.0 + ], + "actual_end_pos": [ + 488.2163, + 15677.1374, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 488.2163, + 15677.1374, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 438.2163, + 15763.7399, + 2150.0 + ], + "actual_end_pos": [ + 438.2163, + 15763.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 438.2163, + 15763.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 438.2163, + 15763.7399, + 2150.0 + ], + "actual_end_pos": [ + 438.2163, + 15763.7399, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 438.2163, + 15763.7399, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 388.2163, + 15850.3425, + 2150.0 + ], + "actual_end_pos": [ + 388.2163, + 15850.3425, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 388.2163, + 15850.3425, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 474.8188, + 15900.3425, + 2150.0 + ], + "actual_end_pos": [ + 474.8188, + 15900.3425, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 474.8188, + 15900.3425, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 474.8188, + 15900.3425, + 2150.0 + ], + "actual_end_pos": [ + 474.8188, + 15900.3425, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 474.8188, + 15900.3425, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 561.4214, + 15950.3425, + 2150.0 + ], + "actual_end_pos": [ + 561.4214, + 15950.3425, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 561.4214, + 15950.3425, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 511.4214, + 16036.945, + 2150.0 + ], + "actual_end_pos": [ + 511.4214, + 16036.945, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 511.4214, + 16036.945, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 511.4214, + 16036.945, + 2150.0 + ], + "actual_end_pos": [ + 511.4214, + 16036.945, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 511.4214, + 16036.945, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 561.4214, + 15950.3425, + 2150.0 + ], + "actual_end_pos": [ + 561.4214, + 15950.3425, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 561.4214, + 15950.3425, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 561.4214, + 15950.3425, + 2150.0 + ], + "actual_end_pos": [ + 561.4214, + 15950.3425, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 561.4214, + 15950.3425, + 2150.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 561.4214, + 15950.3425, + 2150.0 + ], + "actual_end_pos": [ + 561.4214, + 15950.3425, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 561.4214, + 15950.3425, + 2150.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 561.4214, + 15950.3425, + 2150.0 + ], + "actual_end_pos": [ + 561.4214, + 15950.3425, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 561.4214, + 15950.3425, + 2150.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 511.8491, + 15864.4808, + 2163.0526 + ], + "actual_end_pos": [ + 511.8491, + 15864.4808, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 511.8491, + 15864.4808, + 2163.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 598.4517, + 15814.4808, + 2163.0526 + ], + "actual_end_pos": [ + 598.4517, + 15814.4808, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 598.4517, + 15814.4808, + 2163.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 598.4517, + 15814.4808, + 2163.0526 + ], + "actual_end_pos": [ + 598.4517, + 15814.4808, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 598.4517, + 15814.4808, + 2163.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 598.4517, + 15814.4808, + 2163.0526 + ], + "actual_end_pos": [ + 598.4517, + 15814.4808, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 598.4517, + 15814.4808, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 527.741, + 15885.1915, + 2163.0526 + ], + "actual_end_pos": [ + 527.741, + 15885.1915, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 527.741, + 15885.1915, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 457.0303, + 15955.9022, + 2163.0526 + ], + "actual_end_pos": [ + 457.0303, + 15955.9022, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 457.0303, + 15955.9022, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "actual_end_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "actual_end_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "actual_end_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "actual_end_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "actual_end_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "actual_end_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "actual_end_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "actual_end_pos": [ + 386.3196, + 16026.6128, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004632_meta.json b/loop_easy/run_20260410_184831__traj_004632_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb6512e34515b7df603767aa7db1cd79880db73c --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004632_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4632, + "episode_id": 0, + "state_id": 3474, + "sample_index": 3474, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 420.0, + 16340.0, + 2150.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_right", + "move_forward", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "look_down", + "move_backward", + "look_up", + "move_forward", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 420.0, + 16340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 420.0, + 16440.0, + 2150.0 + ], + "actual_end_pos": [ + 420.0, + 16440.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 420.0, + 16440.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 320.0, + 16440.0, + 2150.0 + ], + "actual_end_pos": [ + 320.0, + 16440.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 320.0, + 16440.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 320.0, + 16540.0, + 2150.0 + ], + "actual_end_pos": [ + 320.0, + 16540.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 320.0, + 16540.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 320.0, + 16540.0, + 2150.0 + ], + "actual_end_pos": [ + 320.0, + 16540.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 320.0, + 16540.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 320.0, + 16540.0, + 2150.0 + ], + "actual_end_pos": [ + 320.0, + 16540.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 320.0, + 16540.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 270.0, + 16626.6025, + 2150.0 + ], + "actual_end_pos": [ + 270.0, + 16626.6025, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 270.0, + 16626.6025, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 220.0, + 16713.2051, + 2150.0 + ], + "actual_end_pos": [ + 220.0, + 16713.2051, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 220.0, + 16713.2051, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 170.0, + 16799.8076, + 2150.0 + ], + "actual_end_pos": [ + 170.0, + 16799.8076, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 170.0, + 16799.8076, + 2150.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 170.0, + 16799.8076, + 2150.0 + ], + "actual_end_pos": [ + 170.0, + 16799.8076, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 170.0, + 16799.8076, + 2150.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 170.0, + 16799.8076, + 2150.0 + ], + "actual_end_pos": [ + 170.0, + 16799.8076, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 170.0, + 16799.8076, + 2150.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 170.0, + 16799.8076, + 2150.0 + ], + "actual_end_pos": [ + 170.0, + 16799.8076, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 170.0, + 16799.8076, + 2150.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 255.8616, + 16750.2354, + 2163.0526 + ], + "actual_end_pos": [ + 255.8616, + 16750.2354, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 255.8616, + 16750.2354, + 2163.0526 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 255.8616, + 16750.2354, + 2163.0526 + ], + "actual_end_pos": [ + 255.8616, + 16750.2354, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 255.8616, + 16750.2354, + 2163.0526 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 169.2591, + 16800.2354, + 2163.0526 + ], + "actual_end_pos": [ + 169.2591, + 16800.2354, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 169.2591, + 16800.2354, + 2163.0526 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 119.2591, + 16713.6328, + 2163.0526 + ], + "actual_end_pos": [ + 119.2591, + 16713.6328, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 119.2591, + 16713.6328, + 2163.0526 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 69.2591, + 16627.0303, + 2163.0526 + ], + "actual_end_pos": [ + 69.2591, + 16627.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 69.2591, + 16627.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 69.2591, + 16627.0303, + 2163.0526 + ], + "actual_end_pos": [ + 69.2591, + 16627.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 69.2591, + 16627.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 69.2591, + 16627.0303, + 2163.0526 + ], + "actual_end_pos": [ + 69.2591, + 16627.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 69.2591, + 16627.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 69.2591, + 16627.0303, + 2163.0526 + ], + "actual_end_pos": [ + 69.2591, + 16627.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 69.2591, + 16627.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 69.2591, + 16627.0303, + 2163.0526 + ], + "actual_end_pos": [ + 69.2591, + 16627.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 69.2591, + 16627.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 69.2591, + 16527.0303, + 2163.0526 + ], + "actual_end_pos": [ + 69.2591, + 16527.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 69.2591, + 16527.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 69.2591, + 16427.0303, + 2163.0526 + ], + "actual_end_pos": [ + 69.2591, + 16427.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 69.2591, + 16427.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 69.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_pos": [ + 69.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 69.2591, + 16327.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 169.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_pos": [ + 169.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 169.2591, + 16327.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 269.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_pos": [ + 269.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 269.2591, + 16327.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 369.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_pos": [ + 369.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 369.2591, + 16327.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_pos": [ + 469.2591, + 16327.0303, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_004937_meta.json b/loop_easy/run_20260410_184831__traj_004937_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..90e646dc944bd07eabe8931fea36edefbd80026f --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_004937_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4937, + "episode_id": 0, + "state_id": 3698, + "sample_index": 3698, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1020.0, + 7940.0, + 2150.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_right", + "move_forward", + "move_forward", + "turn_left", + "move_backward", + "move_backward", + "move_right", + "move_forward", + "move_left", + "move_left", + "no_op", + "look_down", + "move_right", + "move_right", + "move_forward", + "move_forward", + "turn_right", + "move_forward", + "move_right", + "move_right", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1020.0, + 7940.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1020.0, + 8040.0, + 2150.0 + ], + "actual_end_pos": [ + 1020.0, + 8040.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1020.0, + 8040.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 920.0, + 8040.0, + 2150.0 + ], + "actual_end_pos": [ + 920.0, + 8040.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 920.0, + 8040.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 920.0, + 8140.0, + 2150.0 + ], + "actual_end_pos": [ + 920.0, + 8140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 920.0, + 8140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 920.0, + 8240.0, + 2150.0 + ], + "actual_end_pos": [ + 920.0, + 8240.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 920.0, + 8240.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 920.0, + 8240.0, + 2150.0 + ], + "actual_end_pos": [ + 920.0, + 8240.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 920.0, + 8240.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 894.1181, + 8143.4074, + 2150.0 + ], + "actual_end_pos": [ + 894.1181, + 8143.4074, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 894.1181, + 8143.4074, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 868.2362, + 8046.8148, + 2150.0 + ], + "actual_end_pos": [ + 868.2362, + 8046.8148, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 868.2362, + 8046.8148, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 771.6436, + 8072.6967, + 2150.0 + ], + "actual_end_pos": [ + 771.6436, + 8072.6967, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 771.6436, + 8072.6967, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 797.5255, + 8169.2893, + 2150.0 + ], + "actual_end_pos": [ + 797.5255, + 8169.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 797.5255, + 8169.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 894.1181, + 8143.4074, + 2150.0 + ], + "actual_end_pos": [ + 894.1181, + 8143.4074, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 894.1181, + 8143.4074, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 990.7107, + 8117.5255, + 2150.0 + ], + "actual_end_pos": [ + 990.7107, + 8117.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 990.7107, + 8117.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 990.7107, + 8117.5255, + 2150.0 + ], + "actual_end_pos": [ + 990.7107, + 8117.5255, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 990.7107, + 8117.5255, + 2150.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 990.7107, + 8117.5255, + 2150.0 + ], + "actual_end_pos": [ + 990.7107, + 8117.5255, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 990.7107, + 8117.5255, + 2150.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 894.1181, + 8143.4074, + 2150.0 + ], + "actual_end_pos": [ + 894.1181, + 8143.4074, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 894.1181, + 8143.4074, + 2150.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 797.5255, + 8169.2893, + 2150.0 + ], + "actual_end_pos": [ + 797.5255, + 8169.2893, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 797.5255, + 8169.2893, + 2150.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 823.186, + 8265.0555, + 2136.9474 + ], + "actual_end_pos": [ + 823.186, + 8265.0555, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 823.186, + 8265.0555, + 2136.9474 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 848.8465, + 8360.8218, + 2123.8948 + ], + "actual_end_pos": [ + 848.8465, + 8360.8218, + 2123.8948 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 848.8465, + 8360.8218, + 2123.8948 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 848.8465, + 8360.8218, + 2123.8948 + ], + "actual_end_pos": [ + 848.8465, + 8360.8218, + 2123.8948 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 848.8465, + 8360.8218, + 2123.8948 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 848.8465, + 8459.9662, + 2110.8421 + ], + "actual_end_pos": [ + 848.8465, + 8459.9662, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 848.8465, + 8459.9662, + 2110.8421 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 748.8465, + 8459.9663, + 2110.8421 + ], + "actual_end_pos": [ + 748.8465, + 8459.9663, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 748.8465, + 8459.9663, + 2110.8421 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 648.8465, + 8459.9663, + 2110.8421 + ], + "actual_end_pos": [ + 648.8465, + 8459.9663, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 648.8465, + 8459.9663, + 2110.8421 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 648.8465, + 8459.9663, + 2110.8421 + ], + "actual_end_pos": [ + 648.8465, + 8459.9663, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 648.8465, + 8459.9663, + 2110.8421 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 648.8465, + 8359.9663, + 2110.8421 + ], + "actual_end_pos": [ + 648.8465, + 8359.9663, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 648.8465, + 8359.9663, + 2110.8421 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 648.8465, + 8259.9663, + 2110.8421 + ], + "actual_end_pos": [ + 648.8465, + 8259.9663, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 648.8465, + 8259.9663, + 2110.8421 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 648.8465, + 8159.9663, + 2110.8421 + ], + "actual_end_pos": [ + 648.8465, + 8159.9663, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 648.8465, + 8159.9663, + 2110.8421 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 648.8465, + 8059.9663, + 2110.8421 + ], + "actual_end_pos": [ + 648.8465, + 8059.9663, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 648.8465, + 8059.9663, + 2110.8421 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 648.8465, + 7959.9663, + 2110.8421 + ], + "actual_end_pos": [ + 648.8465, + 7959.9663, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 648.8465, + 7959.9663, + 2110.8421 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 748.8465, + 7959.9663, + 2110.8421 + ], + "actual_end_pos": [ + 748.8465, + 7959.9663, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 748.8465, + 7959.9663, + 2110.8421 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 848.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_pos": [ + 848.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 848.8465, + 7959.9662, + 2110.8421 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 948.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_pos": [ + 948.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 948.8465, + 7959.9662, + 2110.8421 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_pos": [ + 1048.8465, + 7959.9662, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_005182_meta.json b/loop_easy/run_20260410_184831__traj_005182_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..90d99a7adab26ff2356f37c398dff43980f827ac --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_005182_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 5182, + "episode_id": 0, + "state_id": 3876, + "sample_index": 3876, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1020.0, + 16340.0, + 2150.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "no_op", + "move_left", + "look_down", + "move_right", + "move_right", + "move_right", + "no_op", + "move_right", + "turn_right", + "move_forward", + "move_right", + "move_forward", + "move_right", + "move_right", + "move_forward", + "move_right", + "turn_right", + "turn_left", + "turn_left", + "turn_left", + "look_up", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1020.0, + 16340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1020.0, + 16340.0, + 2150.0 + ], + "actual_end_pos": [ + 1020.0, + 16340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1020.0, + 16340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1020.0, + 16340.0, + 2150.0 + ], + "actual_end_pos": [ + 1020.0, + 16340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1020.0, + 16340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 994.1181, + 16436.5926, + 2150.0 + ], + "actual_end_pos": [ + 994.1181, + 16436.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 994.1181, + 16436.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 994.1181, + 16436.5926, + 2150.0 + ], + "actual_end_pos": [ + 994.1181, + 16436.5926, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 994.1181, + 16436.5926, + 2150.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1020.0, + 16340.0, + 2150.0 + ], + "actual_end_pos": [ + 1020.0, + 16340.0, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1020.0, + 16340.0, + 2150.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1045.8819, + 16243.4074, + 2150.0 + ], + "actual_end_pos": [ + 1045.8819, + 16243.4074, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1045.8819, + 16243.4074, + 2150.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1071.7638, + 16146.8148, + 2150.0 + ], + "actual_end_pos": [ + 1071.7638, + 16146.8148, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1071.7638, + 16146.8148, + 2150.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1071.7638, + 16146.8148, + 2150.0 + ], + "actual_end_pos": [ + 1071.7638, + 16146.8148, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1071.7638, + 16146.8148, + 2150.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1097.6457, + 16050.2223, + 2150.0 + ], + "actual_end_pos": [ + 1097.6457, + 16050.2223, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1097.6457, + 16050.2223, + 2150.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1097.6457, + 16050.2223, + 2150.0 + ], + "actual_end_pos": [ + 1097.6457, + 16050.2223, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1097.6457, + 16050.2223, + 2150.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1011.7841, + 16000.65, + 2136.9474 + ], + "actual_end_pos": [ + 1011.7841, + 16000.65, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1011.7841, + 16000.65, + 2136.9474 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1061.7841, + 15914.0475, + 2136.9474 + ], + "actual_end_pos": [ + 1061.7841, + 15914.0475, + 2136.9474 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1061.7841, + 15914.0475, + 2136.9474 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 975.9224, + 15864.4752, + 2123.8948 + ], + "actual_end_pos": [ + 975.9224, + 15864.4752, + 2123.8948 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 975.9224, + 15864.4752, + 2123.8948 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1025.9224, + 15777.8727, + 2123.8948 + ], + "actual_end_pos": [ + 1025.9224, + 15777.8727, + 2123.8948 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1025.9224, + 15777.8727, + 2123.8948 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1075.9224, + 15691.2701, + 2123.8948 + ], + "actual_end_pos": [ + 1075.9224, + 15691.2701, + 2123.8948 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1075.9224, + 15691.2701, + 2123.8948 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 990.0608, + 15641.6979, + 2110.8421 + ], + "actual_end_pos": [ + 990.0608, + 15641.6979, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 990.0608, + 15641.6979, + 2110.8421 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 15555.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 15555.0954, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1040.0608, + 15555.0954, + 2110.8421 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 15555.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 15555.0954, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1040.0608, + 15555.0954, + 2110.8421 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 15555.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 15555.0954, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1040.0608, + 15555.0954, + 2110.8421 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 15555.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 15555.0954, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1040.0608, + 15555.0954, + 2110.8421 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 15555.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 15555.0954, + 2110.8421 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1040.0608, + 15555.0954, + 2110.8421 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 15555.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 15555.0954, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1040.0608, + 15555.0954, + 2110.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 15655.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 15655.0954, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1040.0608, + 15655.0954, + 2110.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 15755.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 15755.0954, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1040.0608, + 15755.0954, + 2110.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 15855.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 15855.0954, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1040.0608, + 15855.0954, + 2110.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 15955.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 15955.0954, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1040.0608, + 15955.0954, + 2110.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 16055.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 16055.0954, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1040.0608, + 16055.0954, + 2110.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 16155.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 16155.0954, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1040.0608, + 16155.0954, + 2110.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 16255.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 16255.0954, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1040.0608, + 16255.0954, + 2110.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_pos": [ + 1040.0608, + 16355.0954, + 2110.8421 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_005187_meta.json b/loop_easy/run_20260410_184831__traj_005187_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..42e5ff4d8a8a3462d19d645055946ec359641383 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_005187_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 5187, + "episode_id": 0, + "state_id": 3881, + "sample_index": 3881, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1320.0, + 6440.0, + 2150.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "turn_left", + "move_backward", + "no_op", + "look_up", + "move_right", + "move_right", + "move_right", + "look_down", + "move_forward", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "look_up", + "no_op", + "move_forward", + "turn_left", + "move_left", + "turn_right", + "turn_right", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1320.0, + 6440.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1249.2893, + 6369.2893, + 2150.0 + ], + "actual_end_pos": [ + 1249.2893, + 6369.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1249.2893, + 6369.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1249.2893, + 6369.2893, + 2150.0 + ], + "actual_end_pos": [ + 1249.2893, + 6369.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1249.2893, + 6369.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1162.6868, + 6319.2893, + 2150.0 + ], + "actual_end_pos": [ + 1162.6868, + 6319.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1162.6868, + 6319.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1162.6868, + 6319.2893, + 2150.0 + ], + "actual_end_pos": [ + 1162.6868, + 6319.2893, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1162.6868, + 6319.2893, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1162.6868, + 6319.2893, + 2150.0 + ], + "actual_end_pos": [ + 1162.6868, + 6319.2893, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1162.6868, + 6319.2893, + 2150.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1112.6868, + 6405.8919, + 2150.0 + ], + "actual_end_pos": [ + 1112.6868, + 6405.8919, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1112.6868, + 6405.8919, + 2150.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1062.6868, + 6492.4944, + 2150.0 + ], + "actual_end_pos": [ + 1062.6868, + 6492.4944, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1062.6868, + 6492.4944, + 2150.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1012.6868, + 6579.0969, + 2150.0 + ], + "actual_end_pos": [ + 1012.6868, + 6579.0969, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1012.6868, + 6579.0969, + 2150.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1012.6868, + 6579.0969, + 2150.0 + ], + "actual_end_pos": [ + 1012.6868, + 6579.0969, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1012.6868, + 6579.0969, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 1099.2893, + 6629.0969, + 2150.0 + ], + "actual_end_pos": [ + 1099.2893, + 6629.0969, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1099.2893, + 6629.0969, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 1049.2893, + 6715.6995, + 2150.0 + ], + "actual_end_pos": [ + 1049.2893, + 6715.6995, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1049.2893, + 6715.6995, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 1135.8919, + 6765.6995, + 2150.0 + ], + "actual_end_pos": [ + 1135.8919, + 6765.6995, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1135.8919, + 6765.6995, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 1222.4944, + 6815.6995, + 2150.0 + ], + "actual_end_pos": [ + 1222.4944, + 6815.6995, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1222.4944, + 6815.6995, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 1309.0969, + 6865.6995, + 2150.0 + ], + "actual_end_pos": [ + 1309.0969, + 6865.6995, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1309.0969, + 6865.6995, + 2150.0 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 1309.0969, + 6865.6995, + 2150.0 + ], + "actual_end_pos": [ + 1309.0969, + 6865.6995, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1309.0969, + 6865.6995, + 2150.0 + ], + "start_rot": [ + 7.5, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 1309.0969, + 6865.6995, + 2150.0 + ], + "actual_end_pos": [ + 1309.0969, + 6865.6995, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1309.0969, + 6865.6995, + 2150.0 + ], + "start_rot": [ + 7.5, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 1394.9586, + 6915.2717, + 2163.0526 + ], + "actual_end_pos": [ + 1394.9586, + 6915.2717, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1394.9586, + 6915.2717, + 2163.0526 + ], + "start_rot": [ + 7.5, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 1394.9586, + 6915.2717, + 2163.0526 + ], + "actual_end_pos": [ + 1394.9586, + 6915.2717, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1394.9586, + 6915.2717, + 2163.0526 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1420.8405, + 6818.6791, + 2163.0526 + ], + "actual_end_pos": [ + 1420.8405, + 6818.6791, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1420.8405, + 6818.6791, + 2163.0526 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1420.8405, + 6818.6791, + 2163.0526 + ], + "actual_end_pos": [ + 1420.8405, + 6818.6791, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1420.8405, + 6818.6791, + 2163.0526 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1420.8405, + 6818.6791, + 2163.0526 + ], + "actual_end_pos": [ + 1420.8405, + 6818.6791, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1420.8405, + 6818.6791, + 2163.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1420.8405, + 6818.6791, + 2163.0526 + ], + "actual_end_pos": [ + 1420.8405, + 6818.6791, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1420.8405, + 6818.6791, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1350.1298, + 6747.9685, + 2163.0526 + ], + "actual_end_pos": [ + 1350.1298, + 6747.9685, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1350.1298, + 6747.9685, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1279.4191, + 6677.2578, + 2163.0526 + ], + "actual_end_pos": [ + 1279.4191, + 6677.2578, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1279.4191, + 6677.2578, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1208.7085, + 6606.5471, + 2163.0526 + ], + "actual_end_pos": [ + 1208.7085, + 6606.5471, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1208.7085, + 6606.5471, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1279.4191, + 6535.8364, + 2163.0526 + ], + "actual_end_pos": [ + 1279.4191, + 6535.8364, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1279.4191, + 6535.8364, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_pos": [ + 1350.1298, + 6465.1258, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_005575_meta.json b/loop_easy/run_20260410_184831__traj_005575_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..152c9ec8e38ef3b1eb792a0d069617ad96b8bfe5 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_005575_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 5575, + "episode_id": 0, + "state_id": 4158, + "sample_index": 4158, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1620.0, + 9140.0, + 2150.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_backward", + "move_right", + "move_forward", + "move_left", + "no_op", + "move_right", + "move_right", + "move_right", + "no_op", + "move_forward", + "move_left", + "turn_left", + "move_right", + "move_right", + "move_forward", + "move_forward", + "no_op", + "move_right", + "look_up", + "turn_right", + "move_right", + "move_forward", + "turn_right", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1620.0, + 9140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1620.0, + 9140.0, + 2150.0 + ], + "actual_end_pos": [ + 1620.0, + 9140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1620.0, + 9140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1645.8819, + 9236.5926, + 2150.0 + ], + "actual_end_pos": [ + 1645.8819, + 9236.5926, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1645.8819, + 9236.5926, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1742.4745, + 9210.7107, + 2150.0 + ], + "actual_end_pos": [ + 1742.4745, + 9210.7107, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1742.4745, + 9210.7107, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1716.5926, + 9114.1181, + 2150.0 + ], + "actual_end_pos": [ + 1716.5926, + 9114.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1716.5926, + 9114.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1620.0, + 9140.0, + 2150.0 + ], + "actual_end_pos": [ + 1620.0, + 9140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1620.0, + 9140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1620.0, + 9140.0, + 2150.0 + ], + "actual_end_pos": [ + 1620.0, + 9140.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1620.0, + 9140.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1716.5926, + 9114.1181, + 2150.0 + ], + "actual_end_pos": [ + 1716.5926, + 9114.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1716.5926, + 9114.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1813.1852, + 9088.2362, + 2150.0 + ], + "actual_end_pos": [ + 1813.1852, + 9088.2362, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1813.1852, + 9088.2362, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1909.7777, + 9062.3543, + 2150.0 + ], + "actual_end_pos": [ + 1909.7777, + 9062.3543, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1909.7777, + 9062.3543, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1909.7777, + 9062.3543, + 2150.0 + ], + "actual_end_pos": [ + 1909.7777, + 9062.3543, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1909.7777, + 9062.3543, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1883.8958, + 8965.7617, + 2150.0 + ], + "actual_end_pos": [ + 1883.8958, + 8965.7617, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1883.8958, + 8965.7617, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1787.3033, + 8991.6436, + 2150.0 + ], + "actual_end_pos": [ + 1787.3033, + 8991.6436, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1787.3033, + 8991.6436, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1787.3033, + 8991.6436, + 2150.0 + ], + "actual_end_pos": [ + 1787.3033, + 8991.6436, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1787.3033, + 8991.6436, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1873.9058, + 8941.6436, + 2150.0 + ], + "actual_end_pos": [ + 1873.9058, + 8941.6436, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1873.9058, + 8941.6436, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1960.5083, + 8891.6436, + 2150.0 + ], + "actual_end_pos": [ + 1960.5083, + 8891.6436, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1960.5083, + 8891.6436, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1910.5083, + 8805.0411, + 2150.0 + ], + "actual_end_pos": [ + 1910.5083, + 8805.0411, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1910.5083, + 8805.0411, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1860.5083, + 8718.4385, + 2150.0 + ], + "actual_end_pos": [ + 1860.5083, + 8718.4385, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1860.5083, + 8718.4385, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1860.5083, + 8718.4385, + 2150.0 + ], + "actual_end_pos": [ + 1860.5083, + 8718.4385, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1860.5083, + 8718.4385, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1947.1109, + 8668.4385, + 2150.0 + ], + "actual_end_pos": [ + 1947.1109, + 8668.4385, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1947.1109, + 8668.4385, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1947.1109, + 8668.4385, + 2150.0 + ], + "actual_end_pos": [ + 1947.1109, + 8668.4385, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1947.1109, + 8668.4385, + 2150.0 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1947.1109, + 8668.4385, + 2150.0 + ], + "actual_end_pos": [ + 1947.1109, + 8668.4385, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1947.1109, + 8668.4385, + 2150.0 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 2043.7035, + 8642.5566, + 2150.0 + ], + "actual_end_pos": [ + 2043.7035, + 8642.5566, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2043.7035, + 8642.5566, + 2150.0 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 2018.043, + 8546.7904, + 2163.0526 + ], + "actual_end_pos": [ + 2018.043, + 8546.7904, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2018.043, + 8546.7904, + 2163.0526 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 2018.043, + 8546.7904, + 2163.0526 + ], + "actual_end_pos": [ + 2018.043, + 8546.7904, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2018.043, + 8546.7904, + 2163.0526 + ], + "start_rot": [ + 7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 2018.043, + 8546.7904, + 2163.0526 + ], + "actual_end_pos": [ + 2018.043, + 8546.7904, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2018.043, + 8546.7904, + 2163.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2018.043, + 8646.7904, + 2163.0526 + ], + "actual_end_pos": [ + 2018.043, + 8646.7904, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2018.043, + 8646.7904, + 2163.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2018.043, + 8746.7904, + 2163.0526 + ], + "actual_end_pos": [ + 2018.043, + 8746.7904, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2018.043, + 8746.7904, + 2163.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2018.043, + 8846.7904, + 2163.0526 + ], + "actual_end_pos": [ + 2018.043, + 8846.7904, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2018.043, + 8846.7904, + 2163.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2018.043, + 8946.7904, + 2163.0526 + ], + "actual_end_pos": [ + 2018.043, + 8946.7904, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2018.043, + 8946.7904, + 2163.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2018.043, + 9046.7904, + 2163.0526 + ], + "actual_end_pos": [ + 2018.043, + 9046.7904, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2018.043, + 9046.7904, + 2163.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2018.043, + 9146.7904, + 2163.0526 + ], + "actual_end_pos": [ + 2018.043, + 9146.7904, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2018.043, + 9146.7904, + 2163.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1918.043, + 9146.7904, + 2163.0526 + ], + "actual_end_pos": [ + 1918.043, + 9146.7904, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1918.043, + 9146.7904, + 2163.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1818.043, + 9146.7904, + 2163.0526 + ], + "actual_end_pos": [ + 1818.043, + 9146.7904, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1818.043, + 9146.7904, + 2163.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1718.043, + 9146.7904, + 2163.0526 + ], + "actual_end_pos": [ + 1718.043, + 9146.7904, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1718.043, + 9146.7904, + 2163.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1618.043, + 9146.7904, + 2163.0526 + ], + "actual_end_pos": [ + 1618.043, + 9146.7904, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1618.043, + 9146.7904, + 2163.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1618.043, + 9146.7904, + 2163.0526 + ], + "actual_end_pos": [ + 1618.043, + 9146.7904, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1618.043, + 9146.7904, + 2163.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1618.043, + 9146.7904, + 2163.0526 + ], + "actual_end_pos": [ + 1618.043, + 9146.7904, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1618.043, + 9146.7904, + 2163.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1618.043, + 9146.7904, + 2163.0526 + ], + "actual_end_pos": [ + 1618.043, + 9146.7904, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1618.043, + 9146.7904, + 2163.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1618.043, + 9146.7904, + 2163.0526 + ], + "actual_end_pos": [ + 1618.043, + 9146.7904, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1618.043, + 9146.7904, + 2163.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1618.043, + 9146.7904, + 2163.0526 + ], + "actual_end_pos": [ + 1618.043, + 9146.7904, + 2163.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_005763_meta.json b/loop_easy/run_20260410_184831__traj_005763_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..93500338a7b0dee75dca548168c2734c13f568c1 --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_005763_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 5763, + "episode_id": 0, + "state_id": 4302, + "sample_index": 4302, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1620.0, + 16340.0, + 2150.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "move_left", + "move_backward", + "turn_left", + "turn_left", + "move_right", + "no_op", + "move_right", + "move_right", + "move_right", + "look_up", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "look_down", + "move_backward", + "turn_right", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "look_down", + "turn_right", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1620.0, + 16340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1520.0, + 16340.0, + 2150.0 + ], + "actual_end_pos": [ + 1520.0, + 16340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1520.0, + 16340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1420.0, + 16340.0, + 2150.0 + ], + "actual_end_pos": [ + 1420.0, + 16340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1420.0, + 16340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1320.0, + 16340.0, + 2150.0 + ], + "actual_end_pos": [ + 1320.0, + 16340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1320.0, + 16340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1220.0, + 16340.0, + 2150.0 + ], + "actual_end_pos": [ + 1220.0, + 16340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1220.0, + 16340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1220.0, + 16440.0, + 2150.0 + ], + "actual_end_pos": [ + 1220.0, + 16440.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1220.0, + 16440.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1220.0, + 16440.0, + 2150.0 + ], + "actual_end_pos": [ + 1220.0, + 16440.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1220.0, + 16440.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1220.0, + 16440.0, + 2150.0 + ], + "actual_end_pos": [ + 1220.0, + 16440.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1220.0, + 16440.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1306.6025, + 16390.0, + 2150.0 + ], + "actual_end_pos": [ + 1306.6025, + 16390.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1306.6025, + 16390.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1306.6025, + 16390.0, + 2150.0 + ], + "actual_end_pos": [ + 1306.6025, + 16390.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1306.6025, + 16390.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1393.2051, + 16340.0, + 2150.0 + ], + "actual_end_pos": [ + 1393.2051, + 16340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1393.2051, + 16340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1479.8076, + 16290.0, + 2150.0 + ], + "actual_end_pos": [ + 1479.8076, + 16290.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1479.8076, + 16290.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1566.4102, + 16240.0, + 2150.0 + ], + "actual_end_pos": [ + 1566.4102, + 16240.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1566.4102, + 16240.0, + 2150.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1566.4102, + 16240.0, + 2150.0 + ], + "actual_end_pos": [ + 1566.4102, + 16240.0, + 2150.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1566.4102, + 16240.0, + 2150.0 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1516.8379, + 16154.1384, + 2163.0526 + ], + "actual_end_pos": [ + 1516.8379, + 16154.1384, + 2163.0526 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1516.8379, + 16154.1384, + 2163.0526 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1467.2657, + 16068.2767, + 2176.1052 + ], + "actual_end_pos": [ + 1467.2657, + 16068.2767, + 2176.1052 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1467.2657, + 16068.2767, + 2176.1052 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1417.6934, + 15982.4151, + 2189.1579 + ], + "actual_end_pos": [ + 1417.6934, + 15982.4151, + 2189.1579 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1417.6934, + 15982.4151, + 2189.1579 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1368.1212, + 15896.5534, + 2202.2105 + ], + "actual_end_pos": [ + 1368.1212, + 15896.5534, + 2202.2105 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1368.1212, + 15896.5534, + 2202.2105 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1368.1212, + 15896.5534, + 2202.2105 + ], + "actual_end_pos": [ + 1368.1212, + 15896.5534, + 2202.2105 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1368.1212, + 15896.5534, + 2202.2105 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1418.1212, + 15983.156, + 2202.2105 + ], + "actual_end_pos": [ + 1418.1212, + 15983.156, + 2202.2105 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1418.1212, + 15983.156, + 2202.2105 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1418.1212, + 15983.156, + 2202.2105 + ], + "actual_end_pos": [ + 1418.1212, + 15983.156, + 2202.2105 + ], + "actual_end_rot": [ + 0.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1418.1212, + 15983.156, + 2202.2105 + ], + "start_rot": [ + 0.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 1392.2393, + 15886.5634, + 2202.2105 + ], + "actual_end_pos": [ + 1392.2393, + 15886.5634, + 2202.2105 + ], + "actual_end_rot": [ + 0.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1392.2393, + 15886.5634, + 2202.2105 + ], + "start_rot": [ + 0.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 1392.2393, + 15886.5634, + 2202.2105 + ], + "actual_end_pos": [ + 1392.2393, + 15886.5634, + 2202.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1392.2393, + 15886.5634, + 2202.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1392.2393, + 15886.5634, + 2202.2105 + ], + "actual_end_pos": [ + 1392.2393, + 15886.5634, + 2202.2105 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1392.2393, + 15886.5634, + 2202.2105 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 1392.2393, + 15886.5634, + 2202.2105 + ], + "actual_end_pos": [ + 1392.2393, + 15886.5634, + 2202.2105 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1392.2393, + 15886.5634, + 2202.2105 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 1478.8418, + 15936.5634, + 2202.2105 + ], + "actual_end_pos": [ + 1478.8418, + 15936.5634, + 2202.2105 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1478.8418, + 15936.5634, + 2202.2105 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 1478.8418, + 15936.5634, + 2202.2105 + ], + "actual_end_pos": [ + 1478.8418, + 15936.5634, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1478.8418, + 15936.5634, + 2202.2105 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 1478.8418, + 15936.5634, + 2202.2105 + ], + "actual_end_pos": [ + 1478.8418, + 15936.5634, + 2202.2105 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1478.8418, + 15936.5634, + 2202.2105 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 1408.7361, + 16006.6691, + 2215.2631 + ], + "actual_end_pos": [ + 1408.7361, + 16006.6691, + 2215.2631 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1408.7361, + 16006.6691, + 2215.2631 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 1408.7361, + 16006.6691, + 2215.2631 + ], + "actual_end_pos": [ + 1408.7361, + 16006.6691, + 2215.2631 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1408.7361, + 16006.6691, + 2215.2631 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 1408.7361, + 16006.6691, + 2215.2631 + ], + "actual_end_pos": [ + 1408.7361, + 16006.6691, + 2215.2631 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1408.7361, + 16006.6691, + 2215.2631 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 1408.7361, + 16006.6691, + 2215.2631 + ], + "actual_end_pos": [ + 1408.7361, + 16006.6691, + 2215.2631 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1408.7361, + 16006.6691, + 2215.2631 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1408.7361, + 16006.6691, + 2215.2631 + ], + "actual_end_pos": [ + 1408.7361, + 16006.6691, + 2215.2631 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1408.7361, + 16006.6691, + 2215.2631 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1408.7361, + 16106.6691, + 2215.2631 + ], + "actual_end_pos": [ + 1408.7361, + 16106.6691, + 2215.2631 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1408.7361, + 16106.6691, + 2215.2631 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1408.7361, + 16206.6691, + 2215.2631 + ], + "actual_end_pos": [ + 1408.7361, + 16206.6691, + 2215.2631 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1408.7361, + 16206.6691, + 2215.2631 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1408.7361, + 16306.6691, + 2215.2631 + ], + "actual_end_pos": [ + 1408.7361, + 16306.6691, + 2215.2631 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1408.7361, + 16306.6691, + 2215.2631 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1508.7361, + 16306.6691, + 2215.2631 + ], + "actual_end_pos": [ + 1508.7361, + 16306.6691, + 2215.2631 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1508.7361, + 16306.6691, + 2215.2631 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1608.7361, + 16306.6691, + 2215.2631 + ], + "actual_end_pos": [ + 1608.7361, + 16306.6691, + 2215.2631 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1608.7361, + 16306.6691, + 2215.2631 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1608.7361, + 16306.6691, + 2215.2631 + ], + "actual_end_pos": [ + 1608.7361, + 16306.6691, + 2215.2631 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1608.7361, + 16306.6691, + 2215.2631 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1608.7361, + 16306.6691, + 2215.2631 + ], + "actual_end_pos": [ + 1608.7361, + 16306.6691, + 2215.2631 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1608.7361, + 16306.6691, + 2215.2631 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1608.7361, + 16306.6691, + 2215.2631 + ], + "actual_end_pos": [ + 1608.7361, + 16306.6691, + 2215.2631 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260410_184831__traj_005906_meta.json b/loop_easy/run_20260410_184831__traj_005906_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..97cfea78a707af53966945f0baec33821bb6d54e --- /dev/null +++ b/loop_easy/run_20260410_184831__traj_005906_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 5906, + "episode_id": 0, + "state_id": 4410, + "sample_index": 4410, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1920.0, + 10340.0, + 2150.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "move_right", + "turn_right", + "move_right", + "move_right", + "look_down", + "move_backward", + "move_backward", + "look_up", + "move_forward", + "turn_right", + "move_backward", + "turn_left", + "move_backward", + "move_right", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "move_backward", + "turn_left", + "move_right", + "move_forward", + "turn_right", + "turn_right", + "move_forward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1920.0, + 10340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2020.0, + 10340.0, + 2150.0 + ], + "actual_end_pos": [ + 2020.0, + 10340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2020.0, + 10340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2120.0, + 10340.0, + 2150.0 + ], + "actual_end_pos": [ + 2120.0, + 10340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2120.0, + 10340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2220.0, + 10340.0, + 2150.0 + ], + "actual_end_pos": [ + 2220.0, + 10340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2220.0, + 10340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2120.0, + 10340.0, + 2150.0 + ], + "actual_end_pos": [ + 2120.0, + 10340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2120.0, + 10340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2120.0, + 10340.0, + 2150.0 + ], + "actual_end_pos": [ + 2120.0, + 10340.0, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2120.0, + 10340.0, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2023.4074, + 10314.1181, + 2150.0 + ], + "actual_end_pos": [ + 2023.4074, + 10314.1181, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2023.4074, + 10314.1181, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 1926.8148, + 10288.2362, + 2150.0 + ], + "actual_end_pos": [ + 1926.8148, + 10288.2362, + 2150.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1926.8148, + 10288.2362, + 2150.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 1926.8148, + 10288.2362, + 2150.0 + ], + "actual_end_pos": [ + 1926.8148, + 10288.2362, + 2150.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1926.8148, + 10288.2362, + 2150.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 1952.4753, + 10192.47, + 2163.0526 + ], + "actual_end_pos": [ + 1952.4753, + 10192.47, + 2163.0526 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1952.4753, + 10192.47, + 2163.0526 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 1978.1358, + 10096.7038, + 2176.1052 + ], + "actual_end_pos": [ + 1978.1358, + 10096.7038, + 2176.1052 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1978.1358, + 10096.7038, + 2176.1052 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 1978.1358, + 10096.7038, + 2176.1052 + ], + "actual_end_pos": [ + 1978.1358, + 10096.7038, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1978.1358, + 10096.7038, + 2176.1052 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 1952.2539, + 10193.2963, + 2176.1052 + ], + "actual_end_pos": [ + 1952.2539, + 10193.2963, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1952.2539, + 10193.2963, + 2176.1052 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 1952.2539, + 10193.2963, + 2176.1052 + ], + "actual_end_pos": [ + 1952.2539, + 10193.2963, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1952.2539, + 10193.2963, + 2176.1052 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2002.2539, + 10106.6938, + 2176.1052 + ], + "actual_end_pos": [ + 2002.2539, + 10106.6938, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2002.2539, + 10106.6938, + 2176.1052 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2002.2539, + 10106.6938, + 2176.1052 + ], + "actual_end_pos": [ + 2002.2539, + 10106.6938, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2002.2539, + 10106.6938, + 2176.1052 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2028.1358, + 10010.1012, + 2176.1052 + ], + "actual_end_pos": [ + 2028.1358, + 10010.1012, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2028.1358, + 10010.1012, + 2176.1052 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 1931.5432, + 9984.2193, + 2176.1052 + ], + "actual_end_pos": [ + 1931.5432, + 9984.2193, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1931.5432, + 9984.2193, + 2176.1052 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 1931.5432, + 9984.2193, + 2176.1052 + ], + "actual_end_pos": [ + 1931.5432, + 9984.2193, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1931.5432, + 9984.2193, + 2176.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1931.5432, + 10084.2193, + 2176.1052 + ], + "actual_end_pos": [ + 1931.5432, + 10084.2193, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1931.5432, + 10084.2193, + 2176.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1931.5432, + 10184.2193, + 2176.1052 + ], + "actual_end_pos": [ + 1931.5432, + 10184.2193, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1931.5432, + 10184.2193, + 2176.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1931.5432, + 10184.2193, + 2176.1052 + ], + "actual_end_pos": [ + 1931.5432, + 10184.2193, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1931.5432, + 10184.2193, + 2176.1052 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 1905.6613, + 10087.6267, + 2176.1052 + ], + "actual_end_pos": [ + 1905.6613, + 10087.6267, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1905.6613, + 10087.6267, + 2176.1052 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 1905.6613, + 10087.6267, + 2176.1052 + ], + "actual_end_pos": [ + 1905.6613, + 10087.6267, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1905.6613, + 10087.6267, + 2176.1052 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 1819.0588, + 10137.6267, + 2176.1052 + ], + "actual_end_pos": [ + 1819.0588, + 10137.6267, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1819.0588, + 10137.6267, + 2176.1052 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 1869.0588, + 10224.2293, + 2176.1052 + ], + "actual_end_pos": [ + 1869.0588, + 10224.2293, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1869.0588, + 10224.2293, + 2176.1052 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 1869.0588, + 10224.2293, + 2176.1052 + ], + "actual_end_pos": [ + 1869.0588, + 10224.2293, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1869.0588, + 10224.2293, + 2176.1052 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 1869.0588, + 10224.2293, + 2176.1052 + ], + "actual_end_pos": [ + 1869.0588, + 10224.2293, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1869.0588, + 10224.2293, + 2176.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1869.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_pos": [ + 1869.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1869.0588, + 10324.2293, + 2176.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_pos": [ + 1969.0588, + 10324.2293, + 2176.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260411_181558__traj_000629_meta.json b/loop_easy/run_20260411_181558__traj_000629_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a7bca18aa07eabd292059e3220c0da5eb8d82437 --- /dev/null +++ b/loop_easy/run_20260411_181558__traj_000629_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 629, + "episode_id": 0, + "state_id": 467, + "sample_index": 467, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 28160.0, + -6340.0, + -11140.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "look_down", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "move_left", + "move_forward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_backward", + "look_up", + "move_backward", + "turn_left", + "turn_left", + "move_left", + "turn_right", + "move_left", + "move_forward", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 28160.0, + -6340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28230.7107, + -6410.7107, + -11140.0 + ], + "actual_end_pos": [ + 28230.7107, + -6410.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 28230.7107, + -6410.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28230.7107, + -6410.7107, + -11140.0 + ], + "actual_end_pos": [ + 28230.7107, + -6410.7107, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 28230.7107, + -6410.7107, + -11140.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28230.7107, + -6410.7107, + -11140.0 + ], + "actual_end_pos": [ + 28230.7107, + -6410.7107, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 28230.7107, + -6410.7107, + -11140.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 28144.849, + -6361.1384, + -11153.0526 + ], + "actual_end_pos": [ + 28144.849, + -6361.1384, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 28144.849, + -6361.1384, + -11153.0526 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 28058.9874, + -6311.5662, + -11166.1052 + ], + "actual_end_pos": [ + 28058.9874, + -6311.5662, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 28058.9874, + -6311.5662, + -11166.1052 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 28058.9874, + -6311.5662, + -11166.1052 + ], + "actual_end_pos": [ + 28058.9874, + -6311.5662, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28058.9874, + -6311.5662, + -11166.1052 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 28084.8693, + -6214.9736, + -11166.1052 + ], + "actual_end_pos": [ + 28084.8693, + -6214.9736, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 28084.8693, + -6214.9736, + -11166.1052 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 27989.1031, + -6189.3131, + -11179.1579 + ], + "actual_end_pos": [ + 27989.1031, + -6189.3131, + -11179.1579 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 27989.1031, + -6189.3131, + -11179.1579 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 28014.985, + -6092.7205, + -11179.1579 + ], + "actual_end_pos": [ + 28014.985, + -6092.7205, + -11179.1579 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28014.985, + -6092.7205, + -11179.1579 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 28040.8669, + -5996.128, + -11179.1579 + ], + "actual_end_pos": [ + 28040.8669, + -5996.128, + -11179.1579 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28040.8669, + -5996.128, + -11179.1579 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 28066.7488, + -5899.5354, + -11179.1579 + ], + "actual_end_pos": [ + 28066.7488, + -5899.5354, + -11179.1579 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28066.7488, + -5899.5354, + -11179.1579 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 28092.6307, + -5802.9428, + -11179.1579 + ], + "actual_end_pos": [ + 28092.6307, + -5802.9428, + -11179.1579 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 28092.6307, + -5802.9428, + -11179.1579 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 28188.3969, + -5828.6033, + -11166.1052 + ], + "actual_end_pos": [ + 28188.3969, + -5828.6033, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 28188.3969, + -5828.6033, + -11166.1052 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 28188.3969, + -5828.6033, + -11166.1052 + ], + "actual_end_pos": [ + 28188.3969, + -5828.6033, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 28188.3969, + -5828.6033, + -11166.1052 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 28284.9895, + -5854.4852, + -11166.1052 + ], + "actual_end_pos": [ + 28284.9895, + -5854.4852, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 28284.9895, + -5854.4852, + -11166.1052 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 28284.9895, + -5854.4852, + -11166.1052 + ], + "actual_end_pos": [ + 28284.9895, + -5854.4852, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 28284.9895, + -5854.4852, + -11166.1052 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 28284.9895, + -5854.4852, + -11166.1052 + ], + "actual_end_pos": [ + 28284.9895, + -5854.4852, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28284.9895, + -5854.4852, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28355.7002, + -5783.7745, + -11166.1052 + ], + "actual_end_pos": [ + 28355.7002, + -5783.7745, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 28355.7002, + -5783.7745, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28355.7002, + -5783.7745, + -11166.1052 + ], + "actual_end_pos": [ + 28355.7002, + -5783.7745, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28355.7002, + -5783.7745, + -11166.1052 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 28405.7002, + -5697.172, + -11166.1052 + ], + "actual_end_pos": [ + 28405.7002, + -5697.172, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 28405.7002, + -5697.172, + -11166.1052 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 28319.0976, + -5647.172, + -11166.1052 + ], + "actual_end_pos": [ + 28319.0976, + -5647.172, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 28319.0976, + -5647.172, + -11166.1052 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 28319.0976, + -5647.172, + -11166.1052 + ], + "actual_end_pos": [ + 28319.0976, + -5647.172, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 28319.0976, + -5647.172, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28389.8083, + -5717.8826, + -11166.1052 + ], + "actual_end_pos": [ + 28389.8083, + -5717.8826, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 28389.8083, + -5717.8826, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28460.519, + -5788.5933, + -11166.1052 + ], + "actual_end_pos": [ + 28460.519, + -5788.5933, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 28460.519, + -5788.5933, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28531.2297, + -5859.304, + -11166.1052 + ], + "actual_end_pos": [ + 28531.2297, + -5859.304, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 28531.2297, + -5859.304, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28601.9404, + -5930.0147, + -11166.1052 + ], + "actual_end_pos": [ + 28601.9404, + -5930.0147, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28601.9404, + -5930.0147, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28531.2297, + -6000.7254, + -11166.1052 + ], + "actual_end_pos": [ + 28531.2297, + -6000.7254, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28531.2297, + -6000.7254, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28460.519, + -6071.436, + -11166.1052 + ], + "actual_end_pos": [ + 28460.519, + -6071.436, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28460.519, + -6071.436, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28389.8083, + -6142.1467, + -11166.1052 + ], + "actual_end_pos": [ + 28389.8083, + -6142.1467, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28389.8083, + -6142.1467, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28319.0976, + -6212.8574, + -11166.1052 + ], + "actual_end_pos": [ + 28319.0976, + -6212.8574, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28319.0976, + -6212.8574, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28248.387, + -6283.5681, + -11166.1052 + ], + "actual_end_pos": [ + 28248.387, + -6283.5681, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28248.387, + -6283.5681, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "actual_end_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "actual_end_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "actual_end_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "actual_end_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "actual_end_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "actual_end_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "actual_end_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "actual_end_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "actual_end_pos": [ + 28177.6763, + -6354.2787, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260411_181558__traj_000681_meta.json b/loop_easy/run_20260411_181558__traj_000681_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3776de83915fc1549fc4f5766d404b6f30100e0d --- /dev/null +++ b/loop_easy/run_20260411_181558__traj_000681_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 681, + "episode_id": 0, + "state_id": 509, + "sample_index": 509, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 28360.0, + -9540.0, + -11140.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "turn_right", + "move_left", + "look_up", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "look_down", + "move_left", + "turn_right", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28360.0, + -9540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28289.2893, + -9469.2893, + -11140.0 + ], + "actual_end_pos": [ + 28289.2893, + -9469.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 28289.2893, + -9469.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28218.5786, + -9540.0, + -11140.0 + ], + "actual_end_pos": [ + 28218.5786, + -9540.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 28218.5786, + -9540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28147.868, + -9610.7107, + -11140.0 + ], + "actual_end_pos": [ + 28147.868, + -9610.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 28147.868, + -9610.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28077.1573, + -9681.4214, + -11140.0 + ], + "actual_end_pos": [ + 28077.1573, + -9681.4214, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28077.1573, + -9681.4214, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28077.1573, + -9681.4214, + -11140.0 + ], + "actual_end_pos": [ + 28077.1573, + -9681.4214, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 28077.1573, + -9681.4214, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28077.1573, + -9681.4214, + -11140.0 + ], + "actual_end_pos": [ + 28077.1573, + -9681.4214, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28077.1573, + -9681.4214, + -11140.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 27990.5547, + -9631.4214, + -11140.0 + ], + "actual_end_pos": [ + 27990.5547, + -9631.4214, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 27990.5547, + -9631.4214, + -11140.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 27990.5547, + -9631.4214, + -11140.0 + ], + "actual_end_pos": [ + 27990.5547, + -9631.4214, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 27990.5547, + -9631.4214, + -11140.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 27990.5547, + -9631.4214, + -11140.0 + ], + "actual_end_pos": [ + 27990.5547, + -9631.4214, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 27990.5547, + -9631.4214, + -11140.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 27990.5547, + -9631.4214, + -11140.0 + ], + "actual_end_pos": [ + 27990.5547, + -9631.4214, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 27990.5547, + -9631.4214, + -11140.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 27940.5547, + -9544.8188, + -11140.0 + ], + "actual_end_pos": [ + 27940.5547, + -9544.8188, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 27940.5547, + -9544.8188, + -11140.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 27890.5547, + -9458.2163, + -11140.0 + ], + "actual_end_pos": [ + 27890.5547, + -9458.2163, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 27890.5547, + -9458.2163, + -11140.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 27840.5547, + -9371.6137, + -11140.0 + ], + "actual_end_pos": [ + 27840.5547, + -9371.6137, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 27840.5547, + -9371.6137, + -11140.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 27840.5547, + -9371.6137, + -11140.0 + ], + "actual_end_pos": [ + 27840.5547, + -9371.6137, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 27840.5547, + -9371.6137, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 27790.5547, + -9285.0112, + -11140.0 + ], + "actual_end_pos": [ + 27790.5547, + -9285.0112, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 27790.5547, + -9285.0112, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 27790.5547, + -9285.0112, + -11140.0 + ], + "actual_end_pos": [ + 27790.5547, + -9285.0112, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 27790.5547, + -9285.0112, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 27861.2654, + -9214.3005, + -11140.0 + ], + "actual_end_pos": [ + 27861.2654, + -9214.3005, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 27861.2654, + -9214.3005, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 27931.9761, + -9143.5898, + -11140.0 + ], + "actual_end_pos": [ + 27931.9761, + -9143.5898, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 27931.9761, + -9143.5898, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28002.6868, + -9214.3005, + -11140.0 + ], + "actual_end_pos": [ + 28002.6868, + -9214.3005, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28002.6868, + -9214.3005, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28073.3975, + -9285.0112, + -11140.0 + ], + "actual_end_pos": [ + 28073.3975, + -9285.0112, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28073.3975, + -9285.0112, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28144.1081, + -9355.7219, + -11140.0 + ], + "actual_end_pos": [ + 28144.1081, + -9355.7219, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28144.1081, + -9355.7219, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28214.8188, + -9426.4326, + -11140.0 + ], + "actual_end_pos": [ + 28214.8188, + -9426.4326, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28214.8188, + -9426.4326, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28285.5295, + -9497.1432, + -11140.0 + ], + "actual_end_pos": [ + 28285.5295, + -9497.1432, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28285.5295, + -9497.1432, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_pos": [ + 28356.2402, + -9567.8539, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260411_181558__traj_000724_meta.json b/loop_easy/run_20260411_181558__traj_000724_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fa31ad6e76dfff4485c5647910fcf4b2ca41b832 --- /dev/null +++ b/loop_easy/run_20260411_181558__traj_000724_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 724, + "episode_id": 0, + "state_id": 541, + "sample_index": 541, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 28360.0, + -8740.0, + -11140.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "no_op", + "move_backward", + "move_right", + "move_forward", + "look_down", + "look_down", + "no_op", + "move_backward", + "move_left", + "move_backward", + "turn_left", + "turn_left", + "move_left", + "look_up", + "turn_right", + "move_forward", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "move_forward", + "turn_left", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "look_up", + "move_backward", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28360.0, + -8740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28360.0, + -8740.0, + -11140.0 + ], + "actual_end_pos": [ + 28360.0, + -8740.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28360.0, + -8740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28360.0, + -8740.0, + -11140.0 + ], + "actual_end_pos": [ + 28360.0, + -8740.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 28360.0, + -8740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28430.7107, + -8669.2893, + -11140.0 + ], + "actual_end_pos": [ + 28430.7107, + -8669.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28430.7107, + -8669.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28501.4214, + -8740.0, + -11140.0 + ], + "actual_end_pos": [ + 28501.4214, + -8740.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 28501.4214, + -8740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28430.7107, + -8810.7107, + -11140.0 + ], + "actual_end_pos": [ + 28430.7107, + -8810.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 28430.7107, + -8810.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28430.7107, + -8810.7107, + -11140.0 + ], + "actual_end_pos": [ + 28430.7107, + -8810.7107, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 28430.7107, + -8810.7107, + -11140.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28430.7107, + -8810.7107, + -11140.0 + ], + "actual_end_pos": [ + 28430.7107, + -8810.7107, + -11140.0 + ], + "actual_end_rot": [ + -15.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28430.7107, + -8810.7107, + -11140.0 + ], + "start_rot": [ + -15.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 28430.7107, + -8810.7107, + -11140.0 + ], + "actual_end_pos": [ + 28430.7107, + -8810.7107, + -11140.0 + ], + "actual_end_rot": [ + -15.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 28430.7107, + -8810.7107, + -11140.0 + ], + "start_rot": [ + -15.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 28499.0119, + -8742.4094, + -11114.1181 + ], + "actual_end_pos": [ + 28499.0119, + -8742.4094, + -11114.1181 + ], + "actual_end_rot": [ + -15.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28499.0119, + -8742.4094, + -11114.1181 + ], + "start_rot": [ + -15.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 28428.3013, + -8671.6987, + -11114.1181 + ], + "actual_end_pos": [ + 28428.3013, + -8671.6987, + -11114.1181 + ], + "actual_end_rot": [ + -15.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 28428.3013, + -8671.6987, + -11114.1181 + ], + "start_rot": [ + -15.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 28496.6025, + -8603.3975, + -11088.2362 + ], + "actual_end_pos": [ + 28496.6025, + -8603.3975, + -11088.2362 + ], + "actual_end_rot": [ + -15.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 28496.6025, + -8603.3975, + -11088.2362 + ], + "start_rot": [ + -15.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 28496.6025, + -8603.3975, + -11088.2362 + ], + "actual_end_pos": [ + 28496.6025, + -8603.3975, + -11088.2362 + ], + "actual_end_rot": [ + -15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 28496.6025, + -8603.3975, + -11088.2362 + ], + "start_rot": [ + -15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 28496.6025, + -8603.3975, + -11088.2362 + ], + "actual_end_pos": [ + 28496.6025, + -8603.3975, + -11088.2362 + ], + "actual_end_rot": [ + -15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28496.6025, + -8603.3975, + -11088.2362 + ], + "start_rot": [ + -15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 28470.7206, + -8506.8049, + -11088.2362 + ], + "actual_end_pos": [ + 28470.7206, + -8506.8049, + -11088.2362 + ], + "actual_end_rot": [ + -15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 28470.7206, + -8506.8049, + -11088.2362 + ], + "start_rot": [ + -15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 28470.7206, + -8506.8049, + -11088.2362 + ], + "actual_end_pos": [ + 28470.7206, + -8506.8049, + -11088.2362 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 28470.7206, + -8506.8049, + -11088.2362 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 28470.7206, + -8506.8049, + -11088.2362 + ], + "actual_end_pos": [ + 28470.7206, + -8506.8049, + -11088.2362 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 28470.7206, + -8506.8049, + -11088.2362 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 28384.859, + -8556.3771, + -11101.2888 + ], + "actual_end_pos": [ + 28384.859, + -8556.3771, + -11101.2888 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 28384.859, + -8556.3771, + -11101.2888 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 28384.859, + -8556.3771, + -11101.2888 + ], + "actual_end_pos": [ + 28384.859, + -8556.3771, + -11101.2888 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 28384.859, + -8556.3771, + -11101.2888 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 28289.0928, + -8582.0376, + -11114.3414 + ], + "actual_end_pos": [ + 28289.0928, + -8582.0376, + -11114.3414 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 28289.0928, + -8582.0376, + -11114.3414 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 28193.3266, + -8607.6981, + -11127.394 + ], + "actual_end_pos": [ + 28193.3266, + -8607.6981, + -11127.394 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 28193.3266, + -8607.6981, + -11127.394 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 28193.3266, + -8607.6981, + -11127.394 + ], + "actual_end_pos": [ + 28193.3266, + -8607.6981, + -11127.394 + ], + "actual_end_rot": [ + -7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 28193.3266, + -8607.6981, + -11127.394 + ], + "start_rot": [ + -7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + 28094.1821, + -8607.6981, + -11140.4467 + ], + "actual_end_pos": [ + 28094.1821, + -8607.6981, + -11140.4467 + ], + "actual_end_rot": [ + -7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 28094.1821, + -8607.6981, + -11140.4467 + ], + "start_rot": [ + -7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + 28094.1821, + -8607.6981, + -11140.4467 + ], + "actual_end_pos": [ + 28094.1821, + -8607.6981, + -11140.4467 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 28094.1821, + -8607.6981, + -11140.4467 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 28094.1821, + -8607.6981, + -11140.4467 + ], + "actual_end_pos": [ + 28094.1821, + -8607.6981, + -11140.4467 + ], + "actual_end_rot": [ + -7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 28094.1821, + -8607.6981, + -11140.4467 + ], + "start_rot": [ + -7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + 28094.1821, + -8607.6981, + -11140.4467 + ], + "actual_end_pos": [ + 28094.1821, + -8607.6981, + -11140.4467 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 28094.1821, + -8607.6981, + -11140.4467 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 28094.1821, + -8607.6981, + -11140.4467 + ], + "actual_end_pos": [ + 28094.1821, + -8607.6981, + -11140.4467 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 28094.1821, + -8607.6981, + -11140.4467 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 28094.1821, + -8607.6981, + -11140.4467 + ], + "actual_end_pos": [ + 28094.1821, + -8607.6981, + -11140.4467 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 28094.1821, + -8607.6981, + -11140.4467 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28094.1821, + -8607.6981, + -11140.4467 + ], + "actual_end_pos": [ + 28094.1821, + -8607.6981, + -11140.4467 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 28094.1821, + -8607.6981, + -11140.4467 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28164.8927, + -8536.9874, + -11140.4467 + ], + "actual_end_pos": [ + 28164.8927, + -8536.9874, + -11140.4467 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28164.8927, + -8536.9874, + -11140.4467 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28235.6034, + -8607.6981, + -11140.4467 + ], + "actual_end_pos": [ + 28235.6034, + -8607.6981, + -11140.4467 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28235.6034, + -8607.6981, + -11140.4467 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28306.3141, + -8678.4088, + -11140.4467 + ], + "actual_end_pos": [ + 28306.3141, + -8678.4088, + -11140.4467 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28306.3141, + -8678.4088, + -11140.4467 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "actual_end_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "actual_end_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "actual_end_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "actual_end_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "actual_end_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "actual_end_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "actual_end_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "actual_end_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "actual_end_pos": [ + 28377.0248, + -8749.1194, + -11140.4467 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260411_181558__traj_001009_meta.json b/loop_easy/run_20260411_181558__traj_001009_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7596f7a50ee3c0071e139e025681e5e6a4705729 --- /dev/null +++ b/loop_easy/run_20260411_181558__traj_001009_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1009, + "episode_id": 0, + "state_id": 747, + "sample_index": 747, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 28560.0, + -7740.0, + -11140.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "turn_right", + "move_forward", + "no_op", + "move_left", + "look_up", + "move_right", + "turn_left", + "look_up", + "move_forward", + "turn_right", + "move_backward", + "look_up", + "turn_right", + "look_up", + "move_right", + "turn_right", + "move_right", + "move_forward", + "move_left", + "look_down", + "no_op", + "move_left", + "move_left", + "move_left", + "no_op", + "turn_left", + "turn_left", + "turn_left", + "look_down", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28560.0, + -7740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28630.7107, + -7669.2893, + -11140.0 + ], + "actual_end_pos": [ + 28630.7107, + -7669.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 28630.7107, + -7669.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28630.7107, + -7669.2893, + -11140.0 + ], + "actual_end_pos": [ + 28630.7107, + -7669.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 28630.7107, + -7669.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 28544.1081, + -7619.2893, + -11140.0 + ], + "actual_end_pos": [ + 28544.1081, + -7619.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28544.1081, + -7619.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 28544.1081, + -7619.2893, + -11140.0 + ], + "actual_end_pos": [ + 28544.1081, + -7619.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28544.1081, + -7619.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 28594.1081, + -7532.6868, + -11140.0 + ], + "actual_end_pos": [ + 28594.1081, + -7532.6868, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 28594.1081, + -7532.6868, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 28594.1081, + -7532.6868, + -11140.0 + ], + "actual_end_pos": [ + 28594.1081, + -7532.6868, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28594.1081, + -7532.6868, + -11140.0 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 28544.1081, + -7619.2893, + -11140.0 + ], + "actual_end_pos": [ + 28544.1081, + -7619.2893, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 28544.1081, + -7619.2893, + -11140.0 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 28544.1081, + -7619.2893, + -11140.0 + ], + "actual_end_pos": [ + 28544.1081, + -7619.2893, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 28544.1081, + -7619.2893, + -11140.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 28544.1081, + -7619.2893, + -11140.0 + ], + "actual_end_pos": [ + 28544.1081, + -7619.2893, + -11140.0 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 28544.1081, + -7619.2893, + -11140.0 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28475.8069, + -7550.988, + -11114.1181 + ], + "actual_end_pos": [ + 28475.8069, + -7550.988, + -11114.1181 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 28475.8069, + -7550.988, + -11114.1181 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28475.8069, + -7550.988, + -11114.1181 + ], + "actual_end_pos": [ + 28475.8069, + -7550.988, + -11114.1181 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 28475.8069, + -7550.988, + -11114.1181 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 28559.4585, + -7599.2843, + -11140.0 + ], + "actual_end_pos": [ + 28559.4585, + -7599.2843, + -11140.0 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 28559.4585, + -7599.2843, + -11140.0 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 28559.4585, + -7599.2843, + -11140.0 + ], + "actual_end_pos": [ + 28559.4585, + -7599.2843, + -11140.0 + ], + "actual_end_rot": [ + 22.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 28559.4585, + -7599.2843, + -11140.0 + ], + "start_rot": [ + 22.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 28559.4585, + -7599.2843, + -11140.0 + ], + "actual_end_pos": [ + 28559.4585, + -7599.2843, + -11140.0 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 28559.4585, + -7599.2843, + -11140.0 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 28559.4585, + -7599.2843, + -11140.0 + ], + "actual_end_pos": [ + 28559.4585, + -7599.2843, + -11140.0 + ], + "actual_end_rot": [ + 30.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28559.4585, + -7599.2843, + -11140.0 + ], + "start_rot": [ + 30.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 28533.5766, + -7695.8769, + -11140.0 + ], + "actual_end_pos": [ + 28533.5766, + -7695.8769, + -11140.0 + ], + "actual_end_rot": [ + 30.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 28533.5766, + -7695.8769, + -11140.0 + ], + "start_rot": [ + 30.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 28533.5766, + -7695.8769, + -11140.0 + ], + "actual_end_pos": [ + 28533.5766, + -7695.8769, + -11140.0 + ], + "actual_end_rot": [ + 30.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28533.5766, + -7695.8769, + -11140.0 + ], + "start_rot": [ + 30.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 28533.5766, + -7795.8769, + -11140.0 + ], + "actual_end_pos": [ + 28533.5766, + -7795.8769, + -11140.0 + ], + "actual_end_rot": [ + 30.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 28533.5766, + -7795.8769, + -11140.0 + ], + "start_rot": [ + 30.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 28446.9741, + -7795.8769, + -11090.0 + ], + "actual_end_pos": [ + 28446.9741, + -7795.8769, + -11090.0 + ], + "actual_end_rot": [ + 30.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28446.9741, + -7795.8769, + -11090.0 + ], + "start_rot": [ + 30.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 28446.9741, + -7695.8769, + -11090.0 + ], + "actual_end_pos": [ + 28446.9741, + -7695.8769, + -11090.0 + ], + "actual_end_rot": [ + 30.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 28446.9741, + -7695.8769, + -11090.0 + ], + "start_rot": [ + 30.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 28446.9741, + -7695.8769, + -11090.0 + ], + "actual_end_pos": [ + 28446.9741, + -7695.8769, + -11090.0 + ], + "actual_end_rot": [ + 22.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28446.9741, + -7695.8769, + -11090.0 + ], + "start_rot": [ + 22.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 28446.9741, + -7695.8769, + -11090.0 + ], + "actual_end_pos": [ + 28446.9741, + -7695.8769, + -11090.0 + ], + "actual_end_rot": [ + 22.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28446.9741, + -7695.8769, + -11090.0 + ], + "start_rot": [ + 22.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 28446.9741, + -7595.8769, + -11090.0 + ], + "actual_end_pos": [ + 28446.9741, + -7595.8769, + -11090.0 + ], + "actual_end_rot": [ + 22.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28446.9741, + -7595.8769, + -11090.0 + ], + "start_rot": [ + 22.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 28446.9741, + -7495.8769, + -11090.0 + ], + "actual_end_pos": [ + 28446.9741, + -7495.8769, + -11090.0 + ], + "actual_end_rot": [ + 22.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28446.9741, + -7495.8769, + -11090.0 + ], + "start_rot": [ + 22.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 28446.9741, + -7395.8769, + -11090.0 + ], + "actual_end_pos": [ + 28446.9741, + -7395.8769, + -11090.0 + ], + "actual_end_rot": [ + 22.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28446.9741, + -7395.8769, + -11090.0 + ], + "start_rot": [ + 22.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 28446.9741, + -7395.8769, + -11090.0 + ], + "actual_end_pos": [ + 28446.9741, + -7395.8769, + -11090.0 + ], + "actual_end_rot": [ + 22.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 28446.9741, + -7395.8769, + -11090.0 + ], + "start_rot": [ + 22.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 28446.9741, + -7395.8769, + -11090.0 + ], + "actual_end_pos": [ + 28446.9741, + -7395.8769, + -11090.0 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 28446.9741, + -7395.8769, + -11090.0 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 28446.9741, + -7395.8769, + -11090.0 + ], + "actual_end_pos": [ + 28446.9741, + -7395.8769, + -11090.0 + ], + "actual_end_rot": [ + 22.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 28446.9741, + -7395.8769, + -11090.0 + ], + "start_rot": [ + 22.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 28446.9741, + -7395.8769, + -11090.0 + ], + "actual_end_pos": [ + 28446.9741, + -7395.8769, + -11090.0 + ], + "actual_end_rot": [ + 22.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 28446.9741, + -7395.8769, + -11090.0 + ], + "start_rot": [ + 22.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28446.9741, + -7395.8769, + -11090.0 + ], + "actual_end_pos": [ + 28446.9741, + -7395.8769, + -11090.0 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 28446.9741, + -7395.8769, + -11090.0 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28446.9741, + -7395.8769, + -11090.0 + ], + "actual_end_pos": [ + 28446.9741, + -7395.8769, + -11090.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 28446.9741, + -7395.8769, + -11090.0 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28517.0798, + -7465.9827, + -11103.0526 + ], + "actual_end_pos": [ + 28517.0798, + -7465.9827, + -11103.0526 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 28517.0798, + -7465.9827, + -11103.0526 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28587.1855, + -7536.0884, + -11116.1052 + ], + "actual_end_pos": [ + 28587.1855, + -7536.0884, + -11116.1052 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 28587.1855, + -7536.0884, + -11116.1052 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28657.2913, + -7606.1941, + -11129.1579 + ], + "actual_end_pos": [ + 28657.2913, + -7606.1941, + -11129.1579 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28657.2913, + -7606.1941, + -11129.1579 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28586.5806, + -7676.9048, + -11129.1579 + ], + "actual_end_pos": [ + 28586.5806, + -7676.9048, + -11129.1579 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28586.5806, + -7676.9048, + -11129.1579 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28515.8699, + -7747.6155, + -11129.1579 + ], + "actual_end_pos": [ + 28515.8699, + -7747.6155, + -11129.1579 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28515.8699, + -7747.6155, + -11129.1579 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28515.8699, + -7747.6155, + -11129.1579 + ], + "actual_end_pos": [ + 28515.8699, + -7747.6155, + -11129.1579 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28515.8699, + -7747.6155, + -11129.1579 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28515.8699, + -7747.6155, + -11129.1579 + ], + "actual_end_pos": [ + 28515.8699, + -7747.6155, + -11129.1579 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28515.8699, + -7747.6155, + -11129.1579 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28515.8699, + -7747.6155, + -11129.1579 + ], + "actual_end_pos": [ + 28515.8699, + -7747.6155, + -11129.1579 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28515.8699, + -7747.6155, + -11129.1579 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28515.8699, + -7747.6155, + -11129.1579 + ], + "actual_end_pos": [ + 28515.8699, + -7747.6155, + -11129.1579 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260411_181558__traj_001160_meta.json b/loop_easy/run_20260411_181558__traj_001160_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dd8cadcbb34b2c3227c6873e71576b2b11b7b429 --- /dev/null +++ b/loop_easy/run_20260411_181558__traj_001160_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1160, + "episode_id": 0, + "state_id": 855, + "sample_index": 855, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 28760.0, + -9340.0, + -11140.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_right", + "move_forward", + "turn_left", + "move_forward", + "move_forward", + "no_op", + "move_forward", + "turn_left", + "move_backward", + "move_right", + "turn_right", + "move_right", + "move_right", + "move_forward", + "move_forward", + "look_up", + "turn_right", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 28760.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28689.2893, + -9269.2893, + -11140.0 + ], + "actual_end_pos": [ + 28689.2893, + -9269.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28689.2893, + -9269.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28760.0, + -9198.5786, + -11140.0 + ], + "actual_end_pos": [ + 28760.0, + -9198.5786, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 28760.0, + -9198.5786, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28830.7107, + -9269.2893, + -11140.0 + ], + "actual_end_pos": [ + 28830.7107, + -9269.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 28830.7107, + -9269.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28830.7107, + -9269.2893, + -11140.0 + ], + "actual_end_pos": [ + 28830.7107, + -9269.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 28830.7107, + -9269.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 28880.7107, + -9355.8919, + -11140.0 + ], + "actual_end_pos": [ + 28880.7107, + -9355.8919, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 28880.7107, + -9355.8919, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 28930.7107, + -9442.4944, + -11140.0 + ], + "actual_end_pos": [ + 28930.7107, + -9442.4944, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28930.7107, + -9442.4944, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 28930.7107, + -9442.4944, + -11140.0 + ], + "actual_end_pos": [ + 28930.7107, + -9442.4944, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 28930.7107, + -9442.4944, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 28980.7107, + -9529.0969, + -11140.0 + ], + "actual_end_pos": [ + 28980.7107, + -9529.0969, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 28980.7107, + -9529.0969, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 28980.7107, + -9529.0969, + -11140.0 + ], + "actual_end_pos": [ + 28980.7107, + -9529.0969, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 28980.7107, + -9529.0969, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 28954.8288, + -9432.5044, + -11140.0 + ], + "actual_end_pos": [ + 28954.8288, + -9432.5044, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28954.8288, + -9432.5044, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29051.4214, + -9406.6225, + -11140.0 + ], + "actual_end_pos": [ + 29051.4214, + -9406.6225, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29051.4214, + -9406.6225, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29051.4214, + -9406.6225, + -11140.0 + ], + "actual_end_pos": [ + 29051.4214, + -9406.6225, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29051.4214, + -9406.6225, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29138.0239, + -9356.6225, + -11140.0 + ], + "actual_end_pos": [ + 29138.0239, + -9356.6225, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29138.0239, + -9356.6225, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29224.6264, + -9306.6225, + -11140.0 + ], + "actual_end_pos": [ + 29224.6264, + -9306.6225, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29224.6264, + -9306.6225, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29274.6264, + -9393.225, + -11140.0 + ], + "actual_end_pos": [ + 29274.6264, + -9393.225, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29274.6264, + -9393.225, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29324.6264, + -9479.8275, + -11140.0 + ], + "actual_end_pos": [ + 29324.6264, + -9479.8275, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29324.6264, + -9479.8275, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29324.6264, + -9479.8275, + -11140.0 + ], + "actual_end_pos": [ + 29324.6264, + -9479.8275, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29324.6264, + -9479.8275, + -11140.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29324.6264, + -9479.8275, + -11140.0 + ], + "actual_end_pos": [ + 29324.6264, + -9479.8275, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29324.6264, + -9479.8275, + -11140.0 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29324.6264, + -9479.8275, + -11140.0 + ], + "actual_end_pos": [ + 29324.6264, + -9479.8275, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29324.6264, + -9479.8275, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29253.9158, + -9409.1169, + -11140.0 + ], + "actual_end_pos": [ + 29253.9158, + -9409.1169, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29253.9158, + -9409.1169, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29183.2051, + -9338.4062, + -11140.0 + ], + "actual_end_pos": [ + 29183.2051, + -9338.4062, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29183.2051, + -9338.4062, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29112.4944, + -9267.6955, + -11140.0 + ], + "actual_end_pos": [ + 29112.4944, + -9267.6955, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29112.4944, + -9267.6955, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29041.7837, + -9196.9848, + -11140.0 + ], + "actual_end_pos": [ + 29041.7837, + -9196.9848, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29041.7837, + -9196.9848, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28971.073, + -9126.2741, + -11140.0 + ], + "actual_end_pos": [ + 28971.073, + -9126.2741, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28971.073, + -9126.2741, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28900.3624, + -9196.9848, + -11140.0 + ], + "actual_end_pos": [ + 28900.3624, + -9196.9848, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28900.3624, + -9196.9848, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28829.6517, + -9267.6955, + -11140.0 + ], + "actual_end_pos": [ + 28829.6517, + -9267.6955, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28829.6517, + -9267.6955, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_pos": [ + 28758.941, + -9338.4062, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260411_181558__traj_001551_meta.json b/loop_easy/run_20260411_181558__traj_001551_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..05b2fb1561a124c0f10779a2b08ef3eba3dc5c15 --- /dev/null +++ b/loop_easy/run_20260411_181558__traj_001551_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1551, + "episode_id": 0, + "state_id": 1147, + "sample_index": 1147, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 28960.0, + -6140.0, + -11140.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "look_up", + "move_left", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_right", + "move_forward", + "move_left", + "turn_left", + "move_left", + "turn_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "turn_right", + "look_down", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 28960.0, + -6140.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29030.7107, + -6210.7107, + -11140.0 + ], + "actual_end_pos": [ + 29030.7107, + -6210.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29030.7107, + -6210.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29101.4214, + -6281.4214, + -11140.0 + ], + "actual_end_pos": [ + 29101.4214, + -6281.4214, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29101.4214, + -6281.4214, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29101.4214, + -6281.4214, + -11140.0 + ], + "actual_end_pos": [ + 29101.4214, + -6281.4214, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29101.4214, + -6281.4214, + -11140.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 29172.132, + -6210.7107, + -11140.0 + ], + "actual_end_pos": [ + 29172.132, + -6210.7107, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29172.132, + -6210.7107, + -11140.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 29102.0263, + -6140.6049, + -11126.9474 + ], + "actual_end_pos": [ + 29102.0263, + -6140.6049, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29102.0263, + -6140.6049, + -11126.9474 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 29031.9206, + -6070.4992, + -11113.8948 + ], + "actual_end_pos": [ + 29031.9206, + -6070.4992, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29031.9206, + -6070.4992, + -11113.8948 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 29031.9206, + -6070.4992, + -11113.8948 + ], + "actual_end_pos": [ + 29031.9206, + -6070.4992, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29031.9206, + -6070.4992, + -11113.8948 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 29031.9206, + -6070.4992, + -11113.8948 + ], + "actual_end_pos": [ + 29031.9206, + -6070.4992, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29031.9206, + -6070.4992, + -11113.8948 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29057.581, + -6166.2654, + -11126.9474 + ], + "actual_end_pos": [ + 29057.581, + -6166.2654, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29057.581, + -6166.2654, + -11126.9474 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29083.2415, + -6262.0316, + -11140.0 + ], + "actual_end_pos": [ + 29083.2415, + -6262.0316, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29083.2415, + -6262.0316, + -11140.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 28986.6489, + -6287.9135, + -11140.0 + ], + "actual_end_pos": [ + 28986.6489, + -6287.9135, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 28986.6489, + -6287.9135, + -11140.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 28960.9885, + -6192.1473, + -11126.9474 + ], + "actual_end_pos": [ + 28960.9885, + -6192.1473, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28960.9885, + -6192.1473, + -11126.9474 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29057.581, + -6166.2654, + -11126.9474 + ], + "actual_end_pos": [ + 29057.581, + -6166.2654, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29057.581, + -6166.2654, + -11126.9474 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29057.581, + -6166.2654, + -11126.9474 + ], + "actual_end_pos": [ + 29057.581, + -6166.2654, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29057.581, + -6166.2654, + -11126.9474 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29157.581, + -6166.2654, + -11126.9474 + ], + "actual_end_pos": [ + 29157.581, + -6166.2654, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29157.581, + -6166.2654, + -11126.9474 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29157.581, + -6166.2654, + -11126.9474 + ], + "actual_end_pos": [ + 29157.581, + -6166.2654, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29157.581, + -6166.2654, + -11126.9474 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + 29254.1736, + -6192.1473, + -11126.9474 + ], + "actual_end_pos": [ + 29254.1736, + -6192.1473, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29254.1736, + -6192.1473, + -11126.9474 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + 29350.7662, + -6218.0292, + -11126.9474 + ], + "actual_end_pos": [ + 29350.7662, + -6218.0292, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29350.7662, + -6218.0292, + -11126.9474 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + 29350.7662, + -6218.0292, + -11126.9474 + ], + "actual_end_pos": [ + 29350.7662, + -6218.0292, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29350.7662, + -6218.0292, + -11126.9474 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29350.7662, + -6218.0292, + -11126.9474 + ], + "actual_end_pos": [ + 29350.7662, + -6218.0292, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29350.7662, + -6218.0292, + -11126.9474 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29350.7662, + -6218.0292, + -11126.9474 + ], + "actual_end_pos": [ + 29350.7662, + -6218.0292, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29350.7662, + -6218.0292, + -11126.9474 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29264.1637, + -6268.0292, + -11126.9474 + ], + "actual_end_pos": [ + 29264.1637, + -6268.0292, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29264.1637, + -6268.0292, + -11126.9474 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29264.1637, + -6268.0292, + -11126.9474 + ], + "actual_end_pos": [ + 29264.1637, + -6268.0292, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29264.1637, + -6268.0292, + -11126.9474 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 29264.1637, + -6268.0292, + -11126.9474 + ], + "actual_end_pos": [ + 29264.1637, + -6268.0292, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29264.1637, + -6268.0292, + -11126.9474 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29193.453, + -6197.3186, + -11126.9474 + ], + "actual_end_pos": [ + 29193.453, + -6197.3186, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29193.453, + -6197.3186, + -11126.9474 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29122.7423, + -6126.6079, + -11126.9474 + ], + "actual_end_pos": [ + 29122.7423, + -6126.6079, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29122.7423, + -6126.6079, + -11126.9474 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29052.0316, + -6055.8972, + -11126.9474 + ], + "actual_end_pos": [ + 29052.0316, + -6055.8972, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29052.0316, + -6055.8972, + -11126.9474 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_pos": [ + 28981.321, + -6126.6079, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260411_181558__traj_001603_meta.json b/loop_easy/run_20260411_181558__traj_001603_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3d457d138369cc5bab34871ee25594b281ac856a --- /dev/null +++ b/loop_easy/run_20260411_181558__traj_001603_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1603, + "episode_id": 0, + "state_id": 1185, + "sample_index": 1185, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29160.0, + -9340.0, + -11140.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_left", + "move_forward", + "look_down", + "move_right", + "move_forward", + "move_right", + "move_right", + "turn_right", + "move_right", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_left", + "no_op", + "move_right", + "turn_left", + "look_down", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29160.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29230.7107, + -9269.2893, + -11140.0 + ], + "actual_end_pos": [ + 29230.7107, + -9269.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29230.7107, + -9269.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29230.7107, + -9269.2893, + -11140.0 + ], + "actual_end_pos": [ + 29230.7107, + -9269.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29230.7107, + -9269.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29317.3132, + -9219.2893, + -11140.0 + ], + "actual_end_pos": [ + 29317.3132, + -9219.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29317.3132, + -9219.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29317.3132, + -9219.2893, + -11140.0 + ], + "actual_end_pos": [ + 29317.3132, + -9219.2893, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29317.3132, + -9219.2893, + -11140.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29267.3132, + -9132.6868, + -11140.0 + ], + "actual_end_pos": [ + 29267.3132, + -9132.6868, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29267.3132, + -9132.6868, + -11140.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29353.1749, + -9083.1145, + -11153.0526 + ], + "actual_end_pos": [ + 29353.1749, + -9083.1145, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29353.1749, + -9083.1145, + -11153.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29303.1749, + -8996.512, + -11153.0526 + ], + "actual_end_pos": [ + 29303.1749, + -8996.512, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29303.1749, + -8996.512, + -11153.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29253.1749, + -8909.9095, + -11153.0526 + ], + "actual_end_pos": [ + 29253.1749, + -8909.9095, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29253.1749, + -8909.9095, + -11153.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29253.1749, + -8909.9095, + -11153.0526 + ], + "actual_end_pos": [ + 29253.1749, + -8909.9095, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29253.1749, + -8909.9095, + -11153.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29182.4642, + -8839.1988, + -11153.0526 + ], + "actual_end_pos": [ + 29182.4642, + -8839.1988, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29182.4642, + -8839.1988, + -11153.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29252.5699, + -8769.093, + -11166.1052 + ], + "actual_end_pos": [ + 29252.5699, + -8769.093, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29252.5699, + -8769.093, + -11166.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29322.6757, + -8698.9873, + -11179.1579 + ], + "actual_end_pos": [ + 29322.6757, + -8698.9873, + -11179.1579 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29322.6757, + -8698.9873, + -11179.1579 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29322.6757, + -8698.9873, + -11179.1579 + ], + "actual_end_pos": [ + 29322.6757, + -8698.9873, + -11179.1579 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29322.6757, + -8698.9873, + -11179.1579 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29322.6757, + -8698.9873, + -11179.1579 + ], + "actual_end_pos": [ + 29322.6757, + -8698.9873, + -11179.1579 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29322.6757, + -8698.9873, + -11179.1579 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 29348.5576, + -8795.5799, + -11179.1579 + ], + "actual_end_pos": [ + 29348.5576, + -8795.5799, + -11179.1579 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29348.5576, + -8795.5799, + -11179.1579 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 29348.5576, + -8795.5799, + -11179.1579 + ], + "actual_end_pos": [ + 29348.5576, + -8795.5799, + -11179.1579 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29348.5576, + -8795.5799, + -11179.1579 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 29322.6757, + -8698.9873, + -11179.1579 + ], + "actual_end_pos": [ + 29322.6757, + -8698.9873, + -11179.1579 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29322.6757, + -8698.9873, + -11179.1579 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 29322.6757, + -8698.9873, + -11179.1579 + ], + "actual_end_pos": [ + 29322.6757, + -8698.9873, + -11179.1579 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29322.6757, + -8698.9873, + -11179.1579 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 29322.6757, + -8698.9873, + -11179.1579 + ], + "actual_end_pos": [ + 29322.6757, + -8698.9873, + -11179.1579 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29322.6757, + -8698.9873, + -11179.1579 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 29226.0831, + -8698.9873, + -11153.276 + ], + "actual_end_pos": [ + 29226.0831, + -8698.9873, + -11153.276 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29226.0831, + -8698.9873, + -11153.276 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 29226.0831, + -8698.9873, + -11153.276 + ], + "actual_end_pos": [ + 29226.0831, + -8698.9873, + -11153.276 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29226.0831, + -8698.9873, + -11153.276 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 29226.0831, + -8698.9873, + -11153.276 + ], + "actual_end_pos": [ + 29226.0831, + -8698.9873, + -11153.276 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29226.0831, + -8698.9873, + -11153.276 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29226.0831, + -8698.9873, + -11153.276 + ], + "actual_end_pos": [ + 29226.0831, + -8698.9873, + -11153.276 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29226.0831, + -8698.9873, + -11153.276 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29226.0831, + -8698.9873, + -11153.276 + ], + "actual_end_pos": [ + 29226.0831, + -8698.9873, + -11153.276 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29226.0831, + -8698.9873, + -11153.276 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29155.9773, + -8769.093, + -11140.2233 + ], + "actual_end_pos": [ + 29155.9773, + -8769.093, + -11140.2233 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29155.9773, + -8769.093, + -11140.2233 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29085.8716, + -8839.1988, + -11127.1707 + ], + "actual_end_pos": [ + 29085.8716, + -8839.1988, + -11127.1707 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29085.8716, + -8839.1988, + -11127.1707 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29015.7659, + -8909.3045, + -11114.1181 + ], + "actual_end_pos": [ + 29015.7659, + -8909.3045, + -11114.1181 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29015.7659, + -8909.3045, + -11114.1181 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 28945.6601, + -8979.4103, + -11101.0655 + ], + "actual_end_pos": [ + 28945.6601, + -8979.4103, + -11101.0655 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 28945.6601, + -8979.4103, + -11101.0655 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 28875.5544, + -9049.516, + -11088.0129 + ], + "actual_end_pos": [ + 28875.5544, + -9049.516, + -11088.0129 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28875.5544, + -9049.516, + -11088.0129 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 28946.2651, + -9120.2267, + -11088.0129 + ], + "actual_end_pos": [ + 28946.2651, + -9120.2267, + -11088.0129 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28946.2651, + -9120.2267, + -11088.0129 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29016.9757, + -9190.9374, + -11088.0129 + ], + "actual_end_pos": [ + 29016.9757, + -9190.9374, + -11088.0129 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29016.9757, + -9190.9374, + -11088.0129 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29087.6864, + -9261.648, + -11088.0129 + ], + "actual_end_pos": [ + 29087.6864, + -9261.648, + -11088.0129 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29087.6864, + -9261.648, + -11088.0129 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "actual_end_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "actual_end_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "actual_end_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "actual_end_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "actual_end_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "actual_end_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "actual_end_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "actual_end_pos": [ + 29158.3971, + -9332.3587, + -11088.0129 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260411_181558__traj_001772_meta.json b/loop_easy/run_20260411_181558__traj_001772_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dc3874b1057d5655a61fc5acc1fdf166c689bc32 --- /dev/null +++ b/loop_easy/run_20260411_181558__traj_001772_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1772, + "episode_id": 0, + "state_id": 1315, + "sample_index": 1315, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29160.0, + -6140.0, + -11140.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "move_forward", + "look_down", + "move_left", + "turn_right", + "move_backward", + "move_left", + "turn_left", + "move_left", + "move_forward", + "look_up", + "turn_right", + "no_op", + "move_right", + "move_forward", + "no_op", + "turn_left", + "turn_left", + "no_op", + "turn_right", + "look_up", + "move_backward", + "move_backward", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29160.0, + -6140.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29160.0, + -6140.0, + -11140.0 + ], + "actual_end_pos": [ + 29160.0, + -6140.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29160.0, + -6140.0, + -11140.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29089.8943, + -6069.8943, + -11153.0526 + ], + "actual_end_pos": [ + 29089.8943, + -6069.8943, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29089.8943, + -6069.8943, + -11153.0526 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29089.8943, + -6069.8943, + -11153.0526 + ], + "actual_end_pos": [ + 29089.8943, + -6069.8943, + -11153.0526 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29089.8943, + -6069.8943, + -11153.0526 + ], + "start_rot": [ + -15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29160.6049, + -5999.1836, + -11153.0526 + ], + "actual_end_pos": [ + 29160.6049, + -5999.1836, + -11153.0526 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29160.6049, + -5999.1836, + -11153.0526 + ], + "start_rot": [ + -15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29160.6049, + -5999.1836, + -11153.0526 + ], + "actual_end_pos": [ + 29160.6049, + -5999.1836, + -11153.0526 + ], + "actual_end_rot": [ + -15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29160.6049, + -5999.1836, + -11153.0526 + ], + "start_rot": [ + -15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29244.2566, + -6047.4799, + -11127.1707 + ], + "actual_end_pos": [ + 29244.2566, + -6047.4799, + -11127.1707 + ], + "actual_end_rot": [ + -15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29244.2566, + -6047.4799, + -11127.1707 + ], + "start_rot": [ + -15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29294.2566, + -5960.8773, + -11127.1707 + ], + "actual_end_pos": [ + 29294.2566, + -5960.8773, + -11127.1707 + ], + "actual_end_rot": [ + -15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29294.2566, + -5960.8773, + -11127.1707 + ], + "start_rot": [ + -15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29294.2566, + -5960.8773, + -11127.1707 + ], + "actual_end_pos": [ + 29294.2566, + -5960.8773, + -11127.1707 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29294.2566, + -5960.8773, + -11127.1707 + ], + "start_rot": [ + -15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29364.9673, + -5890.1667, + -11127.1707 + ], + "actual_end_pos": [ + 29364.9673, + -5890.1667, + -11127.1707 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29364.9673, + -5890.1667, + -11127.1707 + ], + "start_rot": [ + -15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29296.666, + -5821.8654, + -11153.0526 + ], + "actual_end_pos": [ + 29296.666, + -5821.8654, + -11153.0526 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29296.666, + -5821.8654, + -11153.0526 + ], + "start_rot": [ + -15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29296.666, + -5821.8654, + -11153.0526 + ], + "actual_end_pos": [ + 29296.666, + -5821.8654, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29296.666, + -5821.8654, + -11153.0526 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29296.666, + -5821.8654, + -11153.0526 + ], + "actual_end_pos": [ + 29296.666, + -5821.8654, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29296.666, + -5821.8654, + -11153.0526 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29296.666, + -5821.8654, + -11153.0526 + ], + "actual_end_pos": [ + 29296.666, + -5821.8654, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29296.666, + -5821.8654, + -11153.0526 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29246.666, + -5908.4679, + -11153.0526 + ], + "actual_end_pos": [ + 29246.666, + -5908.4679, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29246.666, + -5908.4679, + -11153.0526 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -5858.8957, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -5858.8957, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29160.8043, + -5858.8957, + -11166.1052 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -5858.8957, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -5858.8957, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29160.8043, + -5858.8957, + -11166.1052 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -5858.8957, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -5858.8957, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29160.8043, + -5858.8957, + -11166.1052 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -5858.8957, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -5858.8957, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29160.8043, + -5858.8957, + -11166.1052 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -5858.8957, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -5858.8957, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29160.8043, + -5858.8957, + -11166.1052 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -5858.8957, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -5858.8957, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29160.8043, + -5858.8957, + -11166.1052 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -5858.8957, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -5858.8957, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29160.8043, + -5858.8957, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29231.515, + -5929.6064, + -11166.1052 + ], + "actual_end_pos": [ + 29231.515, + -5929.6064, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29231.515, + -5929.6064, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29302.2257, + -6000.317, + -11166.1052 + ], + "actual_end_pos": [ + 29302.2257, + -6000.317, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29302.2257, + -6000.317, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29231.515, + -6071.0277, + -11166.1052 + ], + "actual_end_pos": [ + 29231.515, + -6071.0277, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29231.515, + -6071.0277, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_pos": [ + 29160.8043, + -6141.7384, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260411_181558__traj_002011_meta.json b/loop_easy/run_20260411_181558__traj_002011_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c4a89d82b6a60880ba5cc8dad002ba908e9ff3b2 --- /dev/null +++ b/loop_easy/run_20260411_181558__traj_002011_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2011, + "episode_id": 0, + "state_id": 1497, + "sample_index": 1497, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29360.0, + -5740.0, + -11140.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_forward", + "move_right", + "turn_right", + "move_right", + "move_forward", + "move_left", + "move_forward", + "move_right", + "turn_right", + "turn_right", + "move_backward", + "look_up", + "move_forward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_forward", + "turn_right", + "move_right", + "move_right", + "turn_right", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "look_down", + "move_forward", + "move_left", + "move_left", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29360.0, + -5740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29289.2893, + -5669.2893, + -11140.0 + ], + "actual_end_pos": [ + 29289.2893, + -5669.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29289.2893, + -5669.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29218.5786, + -5598.5786, + -11140.0 + ], + "actual_end_pos": [ + 29218.5786, + -5598.5786, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29218.5786, + -5598.5786, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29289.2893, + -5527.868, + -11140.0 + ], + "actual_end_pos": [ + 29289.2893, + -5527.868, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29289.2893, + -5527.868, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29218.5786, + -5457.1573, + -11140.0 + ], + "actual_end_pos": [ + 29218.5786, + -5457.1573, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29218.5786, + -5457.1573, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29218.5786, + -5457.1573, + -11140.0 + ], + "actual_end_pos": [ + 29218.5786, + -5457.1573, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29218.5786, + -5457.1573, + -11140.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 29131.9761, + -5407.1573, + -11140.0 + ], + "actual_end_pos": [ + 29131.9761, + -5407.1573, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29131.9761, + -5407.1573, + -11140.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 29181.9761, + -5320.5547, + -11140.0 + ], + "actual_end_pos": [ + 29181.9761, + -5320.5547, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29181.9761, + -5320.5547, + -11140.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 29268.5786, + -5370.5547, + -11140.0 + ], + "actual_end_pos": [ + 29268.5786, + -5370.5547, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29268.5786, + -5370.5547, + -11140.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 29318.5786, + -5283.9522, + -11140.0 + ], + "actual_end_pos": [ + 29318.5786, + -5283.9522, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29318.5786, + -5283.9522, + -11140.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 29231.9761, + -5233.9522, + -11140.0 + ], + "actual_end_pos": [ + 29231.9761, + -5233.9522, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29231.9761, + -5233.9522, + -11140.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 29231.9761, + -5233.9522, + -11140.0 + ], + "actual_end_pos": [ + 29231.9761, + -5233.9522, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29231.9761, + -5233.9522, + -11140.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 29231.9761, + -5233.9522, + -11140.0 + ], + "actual_end_pos": [ + 29231.9761, + -5233.9522, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29231.9761, + -5233.9522, + -11140.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29231.9761, + -5333.9522, + -11140.0 + ], + "actual_end_pos": [ + 29231.9761, + -5333.9522, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29231.9761, + -5333.9522, + -11140.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29231.9761, + -5333.9522, + -11140.0 + ], + "actual_end_pos": [ + 29231.9761, + -5333.9522, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29231.9761, + -5333.9522, + -11140.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29231.9761, + -5234.8077, + -11126.9474 + ], + "actual_end_pos": [ + 29231.9761, + -5234.8077, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29231.9761, + -5234.8077, + -11126.9474 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29231.9761, + -5234.8077, + -11126.9474 + ], + "actual_end_pos": [ + 29231.9761, + -5234.8077, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29231.9761, + -5234.8077, + -11126.9474 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29231.9761, + -5234.8077, + -11126.9474 + ], + "actual_end_pos": [ + 29231.9761, + -5234.8077, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29231.9761, + -5234.8077, + -11126.9474 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29281.5483, + -5320.6694, + -11140.0 + ], + "actual_end_pos": [ + 29281.5483, + -5320.6694, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29281.5483, + -5320.6694, + -11140.0 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29331.1206, + -5406.531, + -11153.0526 + ], + "actual_end_pos": [ + 29331.1206, + -5406.531, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29331.1206, + -5406.531, + -11153.0526 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29380.6928, + -5492.3927, + -11166.1052 + ], + "actual_end_pos": [ + 29380.6928, + -5492.3927, + -11166.1052 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29380.6928, + -5492.3927, + -11166.1052 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29294.0903, + -5542.3927, + -11166.1052 + ], + "actual_end_pos": [ + 29294.0903, + -5542.3927, + -11166.1052 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29294.0903, + -5542.3927, + -11166.1052 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29244.518, + -5456.531, + -11153.0526 + ], + "actual_end_pos": [ + 29244.518, + -5456.531, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29244.518, + -5456.531, + -11153.0526 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29244.518, + -5456.531, + -11153.0526 + ], + "actual_end_pos": [ + 29244.518, + -5456.531, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29244.518, + -5456.531, + -11153.0526 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29173.8074, + -5527.2417, + -11153.0526 + ], + "actual_end_pos": [ + 29173.8074, + -5527.2417, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29173.8074, + -5527.2417, + -11153.0526 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29103.0967, + -5597.9524, + -11153.0526 + ], + "actual_end_pos": [ + 29103.0967, + -5597.9524, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29103.0967, + -5597.9524, + -11153.0526 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29103.0967, + -5597.9524, + -11153.0526 + ], + "actual_end_pos": [ + 29103.0967, + -5597.9524, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29103.0967, + -5597.9524, + -11153.0526 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "actual_end_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "actual_end_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "actual_end_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "actual_end_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "actual_end_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "actual_end_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "actual_end_rot": [ + 7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "start_rot": [ + 7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "actual_end_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "actual_end_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "actual_end_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29188.9583, + -5647.5246, + -11166.1052 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29259.669, + -5576.8139, + -11166.1052 + ], + "actual_end_pos": [ + 29259.669, + -5576.8139, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29259.669, + -5576.8139, + -11166.1052 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29330.3797, + -5647.5246, + -11166.1052 + ], + "actual_end_pos": [ + 29330.3797, + -5647.5246, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29330.3797, + -5647.5246, + -11166.1052 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29401.0904, + -5718.2353, + -11166.1052 + ], + "actual_end_pos": [ + 29401.0904, + -5718.2353, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29401.0904, + -5718.2353, + -11166.1052 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29401.0904, + -5718.2353, + -11166.1052 + ], + "actual_end_pos": [ + 29401.0904, + -5718.2353, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29401.0904, + -5718.2353, + -11166.1052 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29401.0904, + -5718.2353, + -11166.1052 + ], + "actual_end_pos": [ + 29401.0904, + -5718.2353, + -11166.1052 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260411_181558__traj_002113_meta.json b/loop_easy/run_20260411_181558__traj_002113_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..816821cbbe96c320b5e6b9444e1d91b9d993f4e1 --- /dev/null +++ b/loop_easy/run_20260411_181558__traj_002113_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2113, + "episode_id": 0, + "state_id": 1573, + "sample_index": 1573, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29560.0, + -8140.0, + -11140.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "no_op", + "move_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "look_down", + "move_forward", + "look_up", + "move_backward", + "turn_left", + "move_right", + "move_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29560.0, + -8140.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -8140.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -8140.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29560.0, + -8140.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -8140.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -8140.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29560.0, + -8140.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29630.7107, + -8210.7107, + -11140.0 + ], + "actual_end_pos": [ + 29630.7107, + -8210.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29630.7107, + -8210.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29630.7107, + -8210.7107, + -11140.0 + ], + "actual_end_pos": [ + 29630.7107, + -8210.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29630.7107, + -8210.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29580.7107, + -8297.3132, + -11140.0 + ], + "actual_end_pos": [ + 29580.7107, + -8297.3132, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29580.7107, + -8297.3132, + -11140.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29530.7107, + -8383.9158, + -11140.0 + ], + "actual_end_pos": [ + 29530.7107, + -8383.9158, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29530.7107, + -8383.9158, + -11140.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29480.7107, + -8470.5183, + -11140.0 + ], + "actual_end_pos": [ + 29480.7107, + -8470.5183, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29480.7107, + -8470.5183, + -11140.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29430.7107, + -8557.1208, + -11140.0 + ], + "actual_end_pos": [ + 29430.7107, + -8557.1208, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29430.7107, + -8557.1208, + -11140.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29430.7107, + -8557.1208, + -11140.0 + ], + "actual_end_pos": [ + 29430.7107, + -8557.1208, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29430.7107, + -8557.1208, + -11140.0 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 29381.1384, + -8642.9825, + -11153.0526 + ], + "actual_end_pos": [ + 29381.1384, + -8642.9825, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29381.1384, + -8642.9825, + -11153.0526 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 29381.1384, + -8642.9825, + -11153.0526 + ], + "actual_end_pos": [ + 29381.1384, + -8642.9825, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29381.1384, + -8642.9825, + -11153.0526 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29431.1384, + -8556.3799, + -11153.0526 + ], + "actual_end_pos": [ + 29431.1384, + -8556.3799, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29431.1384, + -8556.3799, + -11153.0526 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29431.1384, + -8556.3799, + -11153.0526 + ], + "actual_end_pos": [ + 29431.1384, + -8556.3799, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29431.1384, + -8556.3799, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29501.8491, + -8627.0906, + -11153.0526 + ], + "actual_end_pos": [ + 29501.8491, + -8627.0906, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29501.8491, + -8627.0906, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29572.5598, + -8697.8013, + -11153.0526 + ], + "actual_end_pos": [ + 29572.5598, + -8697.8013, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29572.5598, + -8697.8013, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29643.2705, + -8627.0906, + -11153.0526 + ], + "actual_end_pos": [ + 29643.2705, + -8627.0906, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29643.2705, + -8627.0906, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29713.9812, + -8556.3799, + -11153.0526 + ], + "actual_end_pos": [ + 29713.9812, + -8556.3799, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29713.9812, + -8556.3799, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29784.6918, + -8485.6693, + -11153.0526 + ], + "actual_end_pos": [ + 29784.6918, + -8485.6693, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29784.6918, + -8485.6693, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29855.4025, + -8414.9586, + -11153.0526 + ], + "actual_end_pos": [ + 29855.4025, + -8414.9586, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29855.4025, + -8414.9586, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29784.6918, + -8344.2479, + -11153.0526 + ], + "actual_end_pos": [ + 29784.6918, + -8344.2479, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29784.6918, + -8344.2479, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29713.9811, + -8273.5372, + -11153.0526 + ], + "actual_end_pos": [ + 29713.9811, + -8273.5372, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29713.9811, + -8273.5372, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29643.2705, + -8202.8266, + -11153.0526 + ], + "actual_end_pos": [ + 29643.2705, + -8202.8266, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29643.2705, + -8202.8266, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_pos": [ + 29572.5598, + -8132.1159, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260411_181558__traj_002208_meta.json b/loop_easy/run_20260411_181558__traj_002208_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..acee2157116ed37b0600c3176bf8a1c62d42658a --- /dev/null +++ b/loop_easy/run_20260411_181558__traj_002208_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2208, + "episode_id": 0, + "state_id": 1643, + "sample_index": 1643, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29560.0, + -6340.0, + -11140.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_left", + "move_left", + "turn_left", + "move_forward", + "turn_right", + "move_left", + "turn_right", + "no_op", + "move_left", + "move_backward", + "look_down", + "turn_right", + "look_up", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29560.0, + -6340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29489.2893, + -6410.7107, + -11140.0 + ], + "actual_end_pos": [ + 29489.2893, + -6410.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29489.2893, + -6410.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29418.5786, + -6481.4214, + -11140.0 + ], + "actual_end_pos": [ + 29418.5786, + -6481.4214, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29418.5786, + -6481.4214, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29418.5786, + -6481.4214, + -11140.0 + ], + "actual_end_pos": [ + 29418.5786, + -6481.4214, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29418.5786, + -6481.4214, + -11140.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29505.1812, + -6431.4214, + -11140.0 + ], + "actual_end_pos": [ + 29505.1812, + -6431.4214, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29505.1812, + -6431.4214, + -11140.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29591.7837, + -6381.4214, + -11140.0 + ], + "actual_end_pos": [ + 29591.7837, + -6381.4214, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29591.7837, + -6381.4214, + -11140.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29678.3863, + -6331.4214, + -11140.0 + ], + "actual_end_pos": [ + 29678.3863, + -6331.4214, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29678.3863, + -6331.4214, + -11140.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29764.9888, + -6281.4214, + -11140.0 + ], + "actual_end_pos": [ + 29764.9888, + -6281.4214, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29764.9888, + -6281.4214, + -11140.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29764.9888, + -6281.4214, + -11140.0 + ], + "actual_end_pos": [ + 29764.9888, + -6281.4214, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29764.9888, + -6281.4214, + -11140.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29861.5814, + -6255.5395, + -11140.0 + ], + "actual_end_pos": [ + 29861.5814, + -6255.5395, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29861.5814, + -6255.5395, + -11140.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29861.5814, + -6255.5395, + -11140.0 + ], + "actual_end_pos": [ + 29861.5814, + -6255.5395, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29861.5814, + -6255.5395, + -11140.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29861.5814, + -6155.5395, + -11140.0 + ], + "actual_end_pos": [ + 29861.5814, + -6155.5395, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29861.5814, + -6155.5395, + -11140.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29861.5814, + -6155.5395, + -11140.0 + ], + "actual_end_pos": [ + 29861.5814, + -6155.5395, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29861.5814, + -6155.5395, + -11140.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29958.174, + -6129.6576, + -11140.0 + ], + "actual_end_pos": [ + 29958.174, + -6129.6576, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29958.174, + -6129.6576, + -11140.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29958.174, + -6129.6576, + -11140.0 + ], + "actual_end_pos": [ + 29958.174, + -6129.6576, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29958.174, + -6129.6576, + -11140.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29958.174, + -6129.6576, + -11140.0 + ], + "actual_end_pos": [ + 29958.174, + -6129.6576, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29958.174, + -6129.6576, + -11140.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 30044.7765, + -6079.6576, + -11140.0 + ], + "actual_end_pos": [ + 30044.7765, + -6079.6576, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30044.7765, + -6079.6576, + -11140.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 30094.7765, + -6166.2601, + -11140.0 + ], + "actual_end_pos": [ + 30094.7765, + -6166.2601, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30094.7765, + -6166.2601, + -11140.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 30094.7765, + -6166.2601, + -11140.0 + ], + "actual_end_pos": [ + 30094.7765, + -6166.2601, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30094.7765, + -6166.2601, + -11140.0 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 30094.7765, + -6166.2601, + -11140.0 + ], + "actual_end_pos": [ + 30094.7765, + -6166.2601, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30094.7765, + -6166.2601, + -11140.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 30094.7765, + -6166.2601, + -11140.0 + ], + "actual_end_pos": [ + 30094.7765, + -6166.2601, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30094.7765, + -6166.2601, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 30024.0658, + -6095.5494, + -11140.0 + ], + "actual_end_pos": [ + 30024.0658, + -6095.5494, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30024.0658, + -6095.5494, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29953.3552, + -6024.8387, + -11140.0 + ], + "actual_end_pos": [ + 29953.3552, + -6024.8387, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29953.3552, + -6024.8387, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29882.6445, + -5954.1281, + -11140.0 + ], + "actual_end_pos": [ + 29882.6445, + -5954.1281, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29882.6445, + -5954.1281, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29811.9338, + -6024.8387, + -11140.0 + ], + "actual_end_pos": [ + 29811.9338, + -6024.8387, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29811.9338, + -6024.8387, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29741.2231, + -6095.5494, + -11140.0 + ], + "actual_end_pos": [ + 29741.2231, + -6095.5494, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29741.2231, + -6095.5494, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29670.5124, + -6166.2601, + -11140.0 + ], + "actual_end_pos": [ + 29670.5124, + -6166.2601, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29670.5124, + -6166.2601, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29599.8018, + -6236.9708, + -11140.0 + ], + "actual_end_pos": [ + 29599.8018, + -6236.9708, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29599.8018, + -6236.9708, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_pos": [ + 29529.0911, + -6307.6814, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260411_181558__traj_002778_meta.json b/loop_easy/run_20260411_181558__traj_002778_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ac1e68f4f1e019bcaf403774d7495a7c9ea9f3eb --- /dev/null +++ b/loop_easy/run_20260411_181558__traj_002778_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2778, + "episode_id": 0, + "state_id": 2056, + "sample_index": 2056, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30160.0, + -8340.0, + -11140.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "look_down", + "turn_right", + "move_forward", + "move_left", + "move_backward", + "move_right", + "turn_left", + "move_left", + "move_left", + "move_backward", + "look_down", + "move_backward", + "move_backward", + "look_up", + "move_backward", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30160.0, + -8340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30260.0, + -8340.0, + -11140.0 + ], + "actual_end_pos": [ + 30260.0, + -8340.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30260.0, + -8340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30360.0, + -8340.0, + -11140.0 + ], + "actual_end_pos": [ + 30360.0, + -8340.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30360.0, + -8340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30460.0, + -8340.0, + -11140.0 + ], + "actual_end_pos": [ + 30460.0, + -8340.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30460.0, + -8340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30560.0, + -8340.0, + -11140.0 + ], + "actual_end_pos": [ + 30560.0, + -8340.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30560.0, + -8340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30560.0, + -8340.0, + -11140.0 + ], + "actual_end_pos": [ + 30560.0, + -8340.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30560.0, + -8340.0, + -11140.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30560.0, + -8340.0, + -11140.0 + ], + "actual_end_pos": [ + 30560.0, + -8340.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30560.0, + -8340.0, + -11140.0 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30655.7662, + -8314.3395, + -11153.0526 + ], + "actual_end_pos": [ + 30655.7662, + -8314.3395, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30655.7662, + -8314.3395, + -11153.0526 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30681.6481, + -8410.9321, + -11153.0526 + ], + "actual_end_pos": [ + 30681.6481, + -8410.9321, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30681.6481, + -8410.9321, + -11153.0526 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30585.8819, + -8436.5926, + -11140.0 + ], + "actual_end_pos": [ + 30585.8819, + -8436.5926, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30585.8819, + -8436.5926, + -11140.0 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30560.0, + -8340.0, + -11140.0 + ], + "actual_end_pos": [ + 30560.0, + -8340.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30560.0, + -8340.0, + -11140.0 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30560.0, + -8340.0, + -11140.0 + ], + "actual_end_pos": [ + 30560.0, + -8340.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30560.0, + -8340.0, + -11140.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30560.0, + -8440.0, + -11140.0 + ], + "actual_end_pos": [ + 30560.0, + -8440.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30560.0, + -8440.0, + -11140.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30560.0, + -8540.0, + -11140.0 + ], + "actual_end_pos": [ + 30560.0, + -8540.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30560.0, + -8540.0, + -11140.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30460.8555, + -8540.0, + -11126.9474 + ], + "actual_end_pos": [ + 30460.8555, + -8540.0, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30460.8555, + -8540.0, + -11126.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30460.8555, + -8540.0, + -11126.9474 + ], + "actual_end_pos": [ + 30460.8555, + -8540.0, + -11126.9474 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30460.8555, + -8540.0, + -11126.9474 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30364.2629, + -8540.0, + -11101.0655 + ], + "actual_end_pos": [ + 30364.2629, + -8540.0, + -11101.0655 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30364.2629, + -8540.0, + -11101.0655 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30267.6703, + -8540.0, + -11075.1836 + ], + "actual_end_pos": [ + 30267.6703, + -8540.0, + -11075.1836 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30267.6703, + -8540.0, + -11075.1836 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30267.6703, + -8540.0, + -11075.1836 + ], + "actual_end_pos": [ + 30267.6703, + -8540.0, + -11075.1836 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30267.6703, + -8540.0, + -11075.1836 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8540.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8540.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30168.5259, + -8540.0, + -11062.131 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8440.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8440.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30168.5259, + -8440.0, + -11062.131 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_pos": [ + 30168.5259, + -8340.0, + -11062.131 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260411_181558__traj_002919_meta.json b/loop_easy/run_20260411_181558__traj_002919_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..46e54b52dd8094e31601671a57928ccb9fa6910b --- /dev/null +++ b/loop_easy/run_20260411_181558__traj_002919_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2919, + "episode_id": 0, + "state_id": 2165, + "sample_index": 2165, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30160.0, + -5740.0, + -11140.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_forward", + "move_forward", + "turn_left", + "move_right", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "move_right", + "move_forward", + "move_forward", + "move_right", + "move_right", + "turn_left", + "move_forward", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30160.0, + -5740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30089.2893, + -5669.2893, + -11140.0 + ], + "actual_end_pos": [ + 30089.2893, + -5669.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30089.2893, + -5669.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30018.5786, + -5740.0, + -11140.0 + ], + "actual_end_pos": [ + 30018.5786, + -5740.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30018.5786, + -5740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29947.868, + -5810.7107, + -11140.0 + ], + "actual_end_pos": [ + 29947.868, + -5810.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29947.868, + -5810.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29947.868, + -5810.7107, + -11140.0 + ], + "actual_end_pos": [ + 29947.868, + -5810.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29947.868, + -5810.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29997.868, + -5897.3132, + -11140.0 + ], + "actual_end_pos": [ + 29997.868, + -5897.3132, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29997.868, + -5897.3132, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29911.2654, + -5947.3132, + -11140.0 + ], + "actual_end_pos": [ + 29911.2654, + -5947.3132, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29911.2654, + -5947.3132, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29824.6629, + -5997.3132, + -11140.0 + ], + "actual_end_pos": [ + 29824.6629, + -5997.3132, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29824.6629, + -5997.3132, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29774.6629, + -5910.7107, + -11140.0 + ], + "actual_end_pos": [ + 29774.6629, + -5910.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29774.6629, + -5910.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29688.0603, + -5960.7107, + -11140.0 + ], + "actual_end_pos": [ + 29688.0603, + -5960.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29688.0603, + -5960.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29738.0604, + -6047.3132, + -11140.0 + ], + "actual_end_pos": [ + 29738.0604, + -6047.3132, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29738.0604, + -6047.3132, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29651.4578, + -6097.3132, + -11140.0 + ], + "actual_end_pos": [ + 29651.4578, + -6097.3132, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29651.4578, + -6097.3132, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29564.8553, + -6147.3132, + -11140.0 + ], + "actual_end_pos": [ + 29564.8553, + -6147.3132, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29564.8553, + -6147.3132, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29614.8553, + -6233.9158, + -11140.0 + ], + "actual_end_pos": [ + 29614.8553, + -6233.9158, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29614.8553, + -6233.9158, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29664.8553, + -6320.5183, + -11140.0 + ], + "actual_end_pos": [ + 29664.8553, + -6320.5183, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29664.8553, + -6320.5183, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29664.8553, + -6320.5183, + -11140.0 + ], + "actual_end_pos": [ + 29664.8553, + -6320.5183, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29664.8553, + -6320.5183, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29568.2627, + -6346.4002, + -11140.0 + ], + "actual_end_pos": [ + 29568.2627, + -6346.4002, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29568.2627, + -6346.4002, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29568.2627, + -6346.4002, + -11140.0 + ], + "actual_end_pos": [ + 29568.2627, + -6346.4002, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29568.2627, + -6346.4002, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29568.2627, + -6346.4002, + -11140.0 + ], + "actual_end_pos": [ + 29568.2627, + -6346.4002, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29568.2627, + -6346.4002, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29638.9734, + -6275.6895, + -11140.0 + ], + "actual_end_pos": [ + 29638.9734, + -6275.6895, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29638.9734, + -6275.6895, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29709.684, + -6204.9789, + -11140.0 + ], + "actual_end_pos": [ + 29709.684, + -6204.9789, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29709.684, + -6204.9789, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29780.3947, + -6134.2682, + -11140.0 + ], + "actual_end_pos": [ + 29780.3947, + -6134.2682, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29780.3947, + -6134.2682, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29851.1054, + -6063.5575, + -11140.0 + ], + "actual_end_pos": [ + 29851.1054, + -6063.5575, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29851.1054, + -6063.5575, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29921.8161, + -5992.8468, + -11140.0 + ], + "actual_end_pos": [ + 29921.8161, + -5992.8468, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29921.8161, + -5992.8468, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29992.5268, + -5922.1361, + -11140.0 + ], + "actual_end_pos": [ + 29992.5268, + -5922.1361, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29992.5268, + -5922.1361, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30063.2374, + -5851.4255, + -11140.0 + ], + "actual_end_pos": [ + 30063.2374, + -5851.4255, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30063.2374, + -5851.4255, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_pos": [ + 30133.9481, + -5780.7148, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260411_181558__traj_002967_meta.json b/loop_easy/run_20260411_181558__traj_002967_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1a924da20fcd0c4a2c782fb315e12f575265325b --- /dev/null +++ b/loop_easy/run_20260411_181558__traj_002967_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2967, + "episode_id": 0, + "state_id": 2204, + "sample_index": 2204, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30360.0, + -8940.0, + -11140.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "no_op", + "move_left", + "move_forward", + "turn_right", + "move_right", + "move_backward", + "move_backward", + "move_left", + "turn_left", + "no_op", + "move_forward", + "move_left", + "move_forward", + "move_left", + "move_forward", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_backward", + "move_left", + "move_forward", + "turn_left", + "move_forward", + "turn_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30360.0, + -8940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 30360.0, + -8940.0, + -11140.0 + ], + "actual_end_pos": [ + 30360.0, + -8940.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30360.0, + -8940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30360.0, + -8940.0, + -11140.0 + ], + "actual_end_pos": [ + 30360.0, + -8940.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30360.0, + -8940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30334.1181, + -8843.4074, + -11140.0 + ], + "actual_end_pos": [ + 30334.1181, + -8843.4074, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30334.1181, + -8843.4074, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30237.5255, + -8869.2893, + -11140.0 + ], + "actual_end_pos": [ + 30237.5255, + -8869.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30237.5255, + -8869.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30237.5255, + -8869.2893, + -11140.0 + ], + "actual_end_pos": [ + 30237.5255, + -8869.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30237.5255, + -8869.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30287.5255, + -8955.8919, + -11140.0 + ], + "actual_end_pos": [ + 30287.5255, + -8955.8919, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30287.5255, + -8955.8919, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30374.1281, + -8905.8919, + -11140.0 + ], + "actual_end_pos": [ + 30374.1281, + -8905.8919, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30374.1281, + -8905.8919, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30460.7306, + -8855.8919, + -11140.0 + ], + "actual_end_pos": [ + 30460.7306, + -8855.8919, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30460.7306, + -8855.8919, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30410.7306, + -8769.2893, + -11140.0 + ], + "actual_end_pos": [ + 30410.7306, + -8769.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30410.7306, + -8769.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30410.7306, + -8769.2893, + -11140.0 + ], + "actual_end_pos": [ + 30410.7306, + -8769.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30410.7306, + -8769.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30410.7306, + -8769.2893, + -11140.0 + ], + "actual_end_pos": [ + 30410.7306, + -8769.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30410.7306, + -8769.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30314.138, + -8795.1712, + -11140.0 + ], + "actual_end_pos": [ + 30314.138, + -8795.1712, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30314.138, + -8795.1712, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30288.2561, + -8698.5786, + -11140.0 + ], + "actual_end_pos": [ + 30288.2561, + -8698.5786, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30288.2561, + -8698.5786, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30191.6635, + -8724.4606, + -11140.0 + ], + "actual_end_pos": [ + 30191.6635, + -8724.4606, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30191.6635, + -8724.4606, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30165.7816, + -8627.868, + -11140.0 + ], + "actual_end_pos": [ + 30165.7816, + -8627.868, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30165.7816, + -8627.868, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30069.189, + -8653.7499, + -11140.0 + ], + "actual_end_pos": [ + 30069.189, + -8653.7499, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30069.189, + -8653.7499, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30069.189, + -8653.7499, + -11140.0 + ], + "actual_end_pos": [ + 30069.189, + -8653.7499, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30069.189, + -8653.7499, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 30069.189, + -8653.7499, + -11140.0 + ], + "actual_end_pos": [ + 30069.189, + -8653.7499, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30069.189, + -8653.7499, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30043.3071, + -8750.3425, + -11140.0 + ], + "actual_end_pos": [ + 30043.3071, + -8750.3425, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30043.3071, + -8750.3425, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30017.4252, + -8846.935, + -11140.0 + ], + "actual_end_pos": [ + 30017.4252, + -8846.935, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30017.4252, + -8846.935, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30114.0178, + -8872.8169, + -11140.0 + ], + "actual_end_pos": [ + 30114.0178, + -8872.8169, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30114.0178, + -8872.8169, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30139.8997, + -8776.2244, + -11140.0 + ], + "actual_end_pos": [ + 30139.8997, + -8776.2244, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30139.8997, + -8776.2244, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30043.3071, + -8750.3425, + -11140.0 + ], + "actual_end_pos": [ + 30043.3071, + -8750.3425, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30043.3071, + -8750.3425, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30043.3071, + -8750.3425, + -11140.0 + ], + "actual_end_pos": [ + 30043.3071, + -8750.3425, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30043.3071, + -8750.3425, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29956.7046, + -8700.3425, + -11140.0 + ], + "actual_end_pos": [ + 29956.7046, + -8700.3425, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29956.7046, + -8700.3425, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29956.7046, + -8700.3425, + -11140.0 + ], + "actual_end_pos": [ + 29956.7046, + -8700.3425, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29956.7046, + -8700.3425, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 30027.4153, + -8629.6318, + -11140.0 + ], + "actual_end_pos": [ + 30027.4153, + -8629.6318, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30027.4153, + -8629.6318, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 30098.1259, + -8558.9211, + -11140.0 + ], + "actual_end_pos": [ + 30098.1259, + -8558.9211, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30098.1259, + -8558.9211, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 30098.1259, + -8558.9211, + -11140.0 + ], + "actual_end_pos": [ + 30098.1259, + -8558.9211, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30098.1259, + -8558.9211, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 30098.1259, + -8558.9211, + -11140.0 + ], + "actual_end_pos": [ + 30098.1259, + -8558.9211, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30098.1259, + -8558.9211, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30098.1259, + -8558.9211, + -11140.0 + ], + "actual_end_pos": [ + 30098.1259, + -8558.9211, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30098.1259, + -8558.9211, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 30198.1259, + -8558.9211, + -11140.0 + ], + "actual_end_pos": [ + 30198.1259, + -8558.9211, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30198.1259, + -8558.9211, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 30298.1259, + -8558.9211, + -11140.0 + ], + "actual_end_pos": [ + 30298.1259, + -8558.9211, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30298.1259, + -8558.9211, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 30398.1259, + -8558.9211, + -11140.0 + ], + "actual_end_pos": [ + 30398.1259, + -8558.9211, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30398.1259, + -8558.9211, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 30398.1259, + -8658.9211, + -11140.0 + ], + "actual_end_pos": [ + 30398.1259, + -8658.9211, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30398.1259, + -8658.9211, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 30398.1259, + -8758.9211, + -11140.0 + ], + "actual_end_pos": [ + 30398.1259, + -8758.9211, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30398.1259, + -8758.9211, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 30398.1259, + -8858.9211, + -11140.0 + ], + "actual_end_pos": [ + 30398.1259, + -8858.9211, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30398.1259, + -8858.9211, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 30398.1259, + -8958.9211, + -11140.0 + ], + "actual_end_pos": [ + 30398.1259, + -8958.9211, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30398.1259, + -8958.9211, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 30398.1259, + -8958.9211, + -11140.0 + ], + "actual_end_pos": [ + 30398.1259, + -8958.9211, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30398.1259, + -8958.9211, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 30398.1259, + -8958.9211, + -11140.0 + ], + "actual_end_pos": [ + 30398.1259, + -8958.9211, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260411_181558__traj_003185_meta.json b/loop_easy/run_20260411_181558__traj_003185_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f429b6f6c9acdedfced8abfe4cab8d60c38f7310 --- /dev/null +++ b/loop_easy/run_20260411_181558__traj_003185_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3185, + "episode_id": 0, + "state_id": 2357, + "sample_index": 2357, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30560.0, + -9340.0, + -11140.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_backward", + "move_right", + "no_op", + "move_forward", + "turn_left", + "look_down", + "move_left", + "move_left", + "move_forward", + "turn_right", + "move_left", + "move_left", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "move_left", + "turn_left", + "turn_left", + "look_up", + "move_forward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30560.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30489.2893, + -9269.2893, + -11140.0 + ], + "actual_end_pos": [ + 30489.2893, + -9269.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30489.2893, + -9269.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30560.0, + -9198.5786, + -11140.0 + ], + "actual_end_pos": [ + 30560.0, + -9198.5786, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30560.0, + -9198.5786, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30630.7107, + -9269.2893, + -11140.0 + ], + "actual_end_pos": [ + 30630.7107, + -9269.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30630.7107, + -9269.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30630.7107, + -9269.2893, + -11140.0 + ], + "actual_end_pos": [ + 30630.7107, + -9269.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30630.7107, + -9269.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30560.0, + -9340.0, + -11140.0 + ], + "actual_end_pos": [ + 30560.0, + -9340.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30560.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30560.0, + -9340.0, + -11140.0 + ], + "actual_end_pos": [ + 30560.0, + -9340.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30560.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30560.0, + -9340.0, + -11140.0 + ], + "actual_end_pos": [ + 30560.0, + -9340.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30560.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30510.0, + -9253.3975, + -11140.0 + ], + "actual_end_pos": [ + 30510.0, + -9253.3975, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30510.0, + -9253.3975, + -11140.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30460.0, + -9166.7949, + -11140.0 + ], + "actual_end_pos": [ + 30460.0, + -9166.7949, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30460.0, + -9166.7949, + -11140.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30374.1384, + -9216.3672, + -11153.0526 + ], + "actual_end_pos": [ + 30374.1384, + -9216.3672, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30374.1384, + -9216.3672, + -11153.0526 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30374.1384, + -9216.3672, + -11153.0526 + ], + "actual_end_pos": [ + 30374.1384, + -9216.3672, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30374.1384, + -9216.3672, + -11153.0526 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30303.4277, + -9145.6565, + -11153.0526 + ], + "actual_end_pos": [ + 30303.4277, + -9145.6565, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30303.4277, + -9145.6565, + -11153.0526 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30232.717, + -9074.9458, + -11153.0526 + ], + "actual_end_pos": [ + 30232.717, + -9074.9458, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30232.717, + -9074.9458, + -11153.0526 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30302.8227, + -9004.8401, + -11140.0 + ], + "actual_end_pos": [ + 30302.8227, + -9004.8401, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30302.8227, + -9004.8401, + -11140.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30372.9285, + -8934.7343, + -11126.9474 + ], + "actual_end_pos": [ + 30372.9285, + -8934.7343, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30372.9285, + -8934.7343, + -11126.9474 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30372.9285, + -8934.7343, + -11126.9474 + ], + "actual_end_pos": [ + 30372.9285, + -8934.7343, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30372.9285, + -8934.7343, + -11126.9474 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 30372.9285, + -8934.7343, + -11126.9474 + ], + "actual_end_pos": [ + 30372.9285, + -8934.7343, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30372.9285, + -8934.7343, + -11126.9474 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 30276.3359, + -8908.8524, + -11126.9474 + ], + "actual_end_pos": [ + 30276.3359, + -8908.8524, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30276.3359, + -8908.8524, + -11126.9474 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 30276.3359, + -8908.8524, + -11126.9474 + ], + "actual_end_pos": [ + 30276.3359, + -8908.8524, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30276.3359, + -8908.8524, + -11126.9474 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 30276.3359, + -8908.8524, + -11126.9474 + ], + "actual_end_pos": [ + 30276.3359, + -8908.8524, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30276.3359, + -8908.8524, + -11126.9474 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30276.3359, + -8908.8524, + -11126.9474 + ], + "actual_end_pos": [ + 30276.3359, + -8908.8524, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30276.3359, + -8908.8524, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30205.6252, + -8979.5631, + -11126.9474 + ], + "actual_end_pos": [ + 30205.6252, + -8979.5631, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30205.6252, + -8979.5631, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30276.3359, + -9050.2738, + -11126.9474 + ], + "actual_end_pos": [ + 30276.3359, + -9050.2738, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30276.3359, + -9050.2738, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30347.0466, + -9120.9845, + -11126.9474 + ], + "actual_end_pos": [ + 30347.0466, + -9120.9845, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30347.0466, + -9120.9845, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30417.7572, + -9191.6951, + -11126.9474 + ], + "actual_end_pos": [ + 30417.7572, + -9191.6951, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30417.7572, + -9191.6951, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30488.4679, + -9262.4058, + -11126.9474 + ], + "actual_end_pos": [ + 30488.4679, + -9262.4058, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30488.4679, + -9262.4058, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_pos": [ + 30559.1786, + -9333.1165, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_000153_meta.json b/loop_easy/run_20260413_221314__traj_000153_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cba9470e8a08cd04b980b2e1fd938722d6d65539 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_000153_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 153, + "episode_id": 0, + "state_id": 113, + "sample_index": 113, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4710.0, + -1740.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_left", + "move_left", + "turn_right", + "move_left", + "turn_right", + "move_backward", + "move_backward", + "turn_left", + "move_left", + "move_forward", + "move_right", + "move_backward", + "turn_right", + "turn_right", + "move_backward", + "move_left", + "turn_left", + "move_right", + "move_backward", + "move_left", + "no_op", + "turn_right", + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4710.0, + -1740.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4780.7107, + -1810.7107, + 200.0 + ], + "actual_end_pos": [ + -4780.7107, + -1810.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4780.7107, + -1810.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4710.0, + -1881.4214, + 200.0 + ], + "actual_end_pos": [ + -4710.0, + -1881.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4710.0, + -1881.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4639.2893, + -1952.132, + 200.0 + ], + "actual_end_pos": [ + -4639.2893, + -1952.132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4639.2893, + -1952.132, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4639.2893, + -1952.132, + 200.0 + ], + "actual_end_pos": [ + -4639.2893, + -1952.132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4639.2893, + -1952.132, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4552.6868, + -2002.132, + 200.0 + ], + "actual_end_pos": [ + -4552.6868, + -2002.132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4552.6868, + -2002.132, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4552.6868, + -2002.132, + 200.0 + ], + "actual_end_pos": [ + -4552.6868, + -2002.132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4552.6868, + -2002.132, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4578.5687, + -2098.7246, + 200.0 + ], + "actual_end_pos": [ + -4578.5687, + -2098.7246, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4578.5687, + -2098.7246, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4604.4506, + -2195.3172, + 200.0 + ], + "actual_end_pos": [ + -4604.4506, + -2195.3172, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4604.4506, + -2195.3172, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4604.4506, + -2195.3172, + 200.0 + ], + "actual_end_pos": [ + -4604.4506, + -2195.3172, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4604.4506, + -2195.3172, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4517.8481, + -2245.3172, + 200.0 + ], + "actual_end_pos": [ + -4517.8481, + -2245.3172, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4517.8481, + -2245.3172, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4467.8481, + -2158.7147, + 200.0 + ], + "actual_end_pos": [ + -4467.8481, + -2158.7147, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4467.8481, + -2158.7147, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4554.4506, + -2108.7147, + 200.0 + ], + "actual_end_pos": [ + -4554.4506, + -2108.7147, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4554.4506, + -2108.7147, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4604.4506, + -2195.3172, + 200.0 + ], + "actual_end_pos": [ + -4604.4506, + -2195.3172, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4604.4506, + -2195.3172, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4604.4506, + -2195.3172, + 200.0 + ], + "actual_end_pos": [ + -4604.4506, + -2195.3172, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4604.4506, + -2195.3172, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4604.4506, + -2195.3172, + 200.0 + ], + "actual_end_pos": [ + -4604.4506, + -2195.3172, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4604.4506, + -2195.3172, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4604.4506, + -2295.3172, + 200.0 + ], + "actual_end_pos": [ + -4604.4506, + -2295.3172, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4604.4506, + -2295.3172, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4504.4506, + -2295.3172, + 200.0 + ], + "actual_end_pos": [ + -4504.4506, + -2295.3172, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4504.4506, + -2295.3172, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4504.4506, + -2295.3172, + 200.0 + ], + "actual_end_pos": [ + -4504.4506, + -2295.3172, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4504.4506, + -2295.3172, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4601.0432, + -2269.4353, + 200.0 + ], + "actual_end_pos": [ + -4601.0432, + -2269.4353, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4601.0432, + -2269.4353, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4626.9251, + -2366.0279, + 200.0 + ], + "actual_end_pos": [ + -4626.9251, + -2366.0279, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4626.9251, + -2366.0279, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4530.3325, + -2391.9098, + 200.0 + ], + "actual_end_pos": [ + -4530.3325, + -2391.9098, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4530.3325, + -2391.9098, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4530.3325, + -2391.9098, + 200.0 + ], + "actual_end_pos": [ + -4530.3325, + -2391.9098, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4530.3325, + -2391.9098, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4530.3325, + -2391.9098, + 200.0 + ], + "actual_end_pos": [ + -4530.3325, + -2391.9098, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4530.3325, + -2391.9098, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4430.3325, + -2391.9098, + 200.0 + ], + "actual_end_pos": [ + -4430.3325, + -2391.9098, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4430.3325, + -2391.9098, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4330.3325, + -2391.9098, + 200.0 + ], + "actual_end_pos": [ + -4330.3325, + -2391.9098, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4330.3325, + -2391.9098, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4330.3325, + -2391.9098, + 200.0 + ], + "actual_end_pos": [ + -4330.3325, + -2391.9098, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4330.3325, + -2391.9098, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4330.3325, + -2391.9098, + 200.0 + ], + "actual_end_pos": [ + -4330.3325, + -2391.9098, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4330.3325, + -2391.9098, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4330.3325, + -2391.9098, + 200.0 + ], + "actual_end_pos": [ + -4330.3325, + -2391.9098, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4330.3325, + -2391.9098, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4259.6218, + -2321.1991, + 200.0 + ], + "actual_end_pos": [ + -4259.6218, + -2321.1991, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4259.6218, + -2321.1991, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4188.9111, + -2250.4884, + 200.0 + ], + "actual_end_pos": [ + -4188.9111, + -2250.4884, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4188.9111, + -2250.4884, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4259.6218, + -2179.7778, + 200.0 + ], + "actual_end_pos": [ + -4259.6218, + -2179.7778, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4259.6218, + -2179.7778, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4330.3325, + -2109.0671, + 200.0 + ], + "actual_end_pos": [ + -4330.3325, + -2109.0671, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4330.3325, + -2109.0671, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4401.0432, + -2038.3564, + 200.0 + ], + "actual_end_pos": [ + -4401.0432, + -2038.3564, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4401.0432, + -2038.3564, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4471.7539, + -1967.6457, + 200.0 + ], + "actual_end_pos": [ + -4471.7539, + -1967.6457, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4471.7539, + -1967.6457, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4542.4645, + -1896.935, + 200.0 + ], + "actual_end_pos": [ + -4542.4645, + -1896.935, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4542.4645, + -1896.935, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4613.1752, + -1826.2244, + 200.0 + ], + "actual_end_pos": [ + -4613.1752, + -1826.2244, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4613.1752, + -1826.2244, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4683.8859, + -1755.5137, + 200.0 + ], + "actual_end_pos": [ + -4683.8859, + -1755.5137, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4683.8859, + -1755.5137, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4683.8859, + -1755.5137, + 200.0 + ], + "actual_end_pos": [ + -4683.8859, + -1755.5137, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4683.8859, + -1755.5137, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4683.8859, + -1755.5137, + 200.0 + ], + "actual_end_pos": [ + -4683.8859, + -1755.5137, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4683.8859, + -1755.5137, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4683.8859, + -1755.5137, + 200.0 + ], + "actual_end_pos": [ + -4683.8859, + -1755.5137, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_000277_meta.json b/loop_easy/run_20260413_221314__traj_000277_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8e73a3b466bf80284e2c94fbd383c1a014cd2572 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_000277_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 277, + "episode_id": 0, + "state_id": 211, + "sample_index": 211, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4210.0, + -3740.0, + 200.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "turn_left", + "move_right", + "move_right", + "turn_left", + "move_right", + "look_up", + "look_down", + "move_left", + "turn_right", + "turn_right", + "move_left", + "turn_right", + "move_backward", + "move_forward", + "turn_left", + "move_backward", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4210.0, + -3740.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4280.7107, + -3810.7107, + 200.0 + ], + "actual_end_pos": [ + -4280.7107, + -3810.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4280.7107, + -3810.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4351.4214, + -3881.4214, + 200.0 + ], + "actual_end_pos": [ + -4351.4214, + -3881.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4351.4214, + -3881.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4351.4214, + -3881.4214, + 200.0 + ], + "actual_end_pos": [ + -4351.4214, + -3881.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4351.4214, + -3881.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4438.0239, + -3931.4214, + 200.0 + ], + "actual_end_pos": [ + -4438.0239, + -3931.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4438.0239, + -3931.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4524.6264, + -3981.4214, + 200.0 + ], + "actual_end_pos": [ + -4524.6264, + -3981.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4524.6264, + -3981.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4524.6264, + -3981.4214, + 200.0 + ], + "actual_end_pos": [ + -4524.6264, + -3981.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4524.6264, + -3981.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4621.219, + -4007.3033, + 200.0 + ], + "actual_end_pos": [ + -4621.219, + -4007.3033, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -4621.219, + -4007.3033, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4621.219, + -4007.3033, + 200.0 + ], + "actual_end_pos": [ + -4621.219, + -4007.3033, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -4621.219, + -4007.3033, + 200.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4621.219, + -4007.3033, + 200.0 + ], + "actual_end_pos": [ + -4621.219, + -4007.3033, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4621.219, + -4007.3033, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4524.6264, + -3981.4214, + 200.0 + ], + "actual_end_pos": [ + -4524.6264, + -3981.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4524.6264, + -3981.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4524.6264, + -3981.4214, + 200.0 + ], + "actual_end_pos": [ + -4524.6264, + -3981.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4524.6264, + -3981.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4524.6264, + -3981.4214, + 200.0 + ], + "actual_end_pos": [ + -4524.6264, + -3981.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4524.6264, + -3981.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4453.9158, + -3910.7107, + 200.0 + ], + "actual_end_pos": [ + -4453.9158, + -3910.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4453.9158, + -3910.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4453.9158, + -3910.7107, + 200.0 + ], + "actual_end_pos": [ + -4453.9158, + -3910.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4453.9158, + -3910.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4367.3132, + -3960.7107, + 200.0 + ], + "actual_end_pos": [ + -4367.3132, + -3960.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4367.3132, + -3960.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4453.9158, + -3910.7107, + 200.0 + ], + "actual_end_pos": [ + -4453.9158, + -3910.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4453.9158, + -3910.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4453.9158, + -3910.7107, + 200.0 + ], + "actual_end_pos": [ + -4453.9158, + -3910.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4453.9158, + -3910.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4383.2051, + -3981.4214, + 200.0 + ], + "actual_end_pos": [ + -4383.2051, + -3981.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4383.2051, + -3981.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4312.4944, + -3910.7107, + 200.0 + ], + "actual_end_pos": [ + -4312.4944, + -3910.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4312.4944, + -3910.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4241.7837, + -3840.0, + 200.0 + ], + "actual_end_pos": [ + -4241.7837, + -3840.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4241.7837, + -3840.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_pos": [ + -4171.073, + -3769.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_000473_meta.json b/loop_easy/run_20260413_221314__traj_000473_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..53edf0c2de8e16a95ee5a769d00f8ba047edac8d --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_000473_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 473, + "episode_id": 0, + "state_id": 361, + "sample_index": 361, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -3710.0, + -3240.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_backward", + "turn_right", + "move_backward", + "move_right", + "move_forward", + "turn_left", + "move_right", + "move_forward", + "move_forward", + "move_right", + "move_forward", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "turn_left", + "look_down", + "move_left", + "turn_right", + "turn_right", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "look_up", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3710.0, + -3240.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3780.7107, + -3169.2893, + 200.0 + ], + "actual_end_pos": [ + -3780.7107, + -3169.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3780.7107, + -3169.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3851.4214, + -3098.5786, + 200.0 + ], + "actual_end_pos": [ + -3851.4214, + -3098.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3851.4214, + -3098.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3922.132, + -3169.2893, + 200.0 + ], + "actual_end_pos": [ + -3922.132, + -3169.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3922.132, + -3169.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3922.132, + -3169.2893, + 200.0 + ], + "actual_end_pos": [ + -3922.132, + -3169.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3922.132, + -3169.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3972.132, + -3255.8919, + 200.0 + ], + "actual_end_pos": [ + -3972.132, + -3255.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3972.132, + -3255.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4058.7346, + -3205.8919, + 200.0 + ], + "actual_end_pos": [ + -4058.7346, + -3205.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4058.7346, + -3205.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4008.7346, + -3119.2893, + 200.0 + ], + "actual_end_pos": [ + -4008.7346, + -3119.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4008.7346, + -3119.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4008.7346, + -3119.2893, + 200.0 + ], + "actual_end_pos": [ + -4008.7346, + -3119.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4008.7346, + -3119.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4079.4453, + -3048.5786, + 200.0 + ], + "actual_end_pos": [ + -4079.4453, + -3048.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4079.4453, + -3048.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4008.7346, + -2977.868, + 200.0 + ], + "actual_end_pos": [ + -4008.7346, + -2977.868, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4008.7346, + -2977.868, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3938.0239, + -2907.1573, + 200.0 + ], + "actual_end_pos": [ + -3938.0239, + -2907.1573, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3938.0239, + -2907.1573, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4008.7346, + -2836.4466, + 200.0 + ], + "actual_end_pos": [ + -4008.7346, + -2836.4466, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4008.7346, + -2836.4466, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3938.0239, + -2765.7359, + 200.0 + ], + "actual_end_pos": [ + -3938.0239, + -2765.7359, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3938.0239, + -2765.7359, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3867.3132, + -2836.4466, + 200.0 + ], + "actual_end_pos": [ + -3867.3132, + -2836.4466, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3867.3132, + -2836.4466, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3867.3132, + -2836.4466, + 200.0 + ], + "actual_end_pos": [ + -3867.3132, + -2836.4466, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3867.3132, + -2836.4466, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3867.3132, + -2836.4466, + 200.0 + ], + "actual_end_pos": [ + -3867.3132, + -2836.4466, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3867.3132, + -2836.4466, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -3867.3132, + -2836.4466, + 200.0 + ], + "actual_end_pos": [ + -3867.3132, + -2836.4466, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3867.3132, + -2836.4466, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3867.3132, + -2936.4466, + 200.0 + ], + "actual_end_pos": [ + -3867.3132, + -2936.4466, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3867.3132, + -2936.4466, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3867.3132, + -2936.4466, + 200.0 + ], + "actual_end_pos": [ + -3867.3132, + -2936.4466, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3867.3132, + -2936.4466, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -3867.3132, + -2936.4466, + 200.0 + ], + "actual_end_pos": [ + -3867.3132, + -2936.4466, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3867.3132, + -2936.4466, + 200.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -3770.7206, + -2962.3285, + 200.0 + ], + "actual_end_pos": [ + -3770.7206, + -2962.3285, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3770.7206, + -2962.3285, + 200.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -3770.7206, + -2962.3285, + 200.0 + ], + "actual_end_pos": [ + -3770.7206, + -2962.3285, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3770.7206, + -2962.3285, + 200.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3770.7206, + -2962.3285, + 200.0 + ], + "actual_end_pos": [ + -3770.7206, + -2962.3285, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3770.7206, + -2962.3285, + 200.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3796.3811, + -2866.5623, + 186.9474 + ], + "actual_end_pos": [ + -3796.3811, + -2866.5623, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3796.3811, + -2866.5623, + 186.9474 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3796.3811, + -2866.5623, + 186.9474 + ], + "actual_end_pos": [ + -3796.3811, + -2866.5623, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3796.3811, + -2866.5623, + 186.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3796.3811, + -2866.5623, + 186.9474 + ], + "actual_end_pos": [ + -3796.3811, + -2866.5623, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3796.3811, + -2866.5623, + 186.9474 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -3796.3811, + -2866.5623, + 186.9474 + ], + "actual_end_pos": [ + -3796.3811, + -2866.5623, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3796.3811, + -2866.5623, + 186.9474 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + -3796.3811, + -2866.5623, + 186.9474 + ], + "actual_end_pos": [ + -3796.3811, + -2866.5623, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3796.3811, + -2866.5623, + 186.9474 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3796.3811, + -2866.5623, + 186.9474 + ], + "actual_end_pos": [ + -3796.3811, + -2866.5623, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3796.3811, + -2866.5623, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3867.0918, + -2937.273, + 186.9474 + ], + "actual_end_pos": [ + -3867.0918, + -2937.273, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3867.0918, + -2937.273, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3937.8025, + -3007.9836, + 186.9474 + ], + "actual_end_pos": [ + -3937.8025, + -3007.9836, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3937.8025, + -3007.9836, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3867.0918, + -3078.6943, + 186.9474 + ], + "actual_end_pos": [ + -3867.0918, + -3078.6943, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3867.0918, + -3078.6943, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3796.3811, + -3149.405, + 186.9474 + ], + "actual_end_pos": [ + -3796.3811, + -3149.405, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3796.3811, + -3149.405, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3725.6704, + -3220.1157, + 186.9474 + ], + "actual_end_pos": [ + -3725.6704, + -3220.1157, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3725.6704, + -3220.1157, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3725.6704, + -3220.1157, + 186.9474 + ], + "actual_end_pos": [ + -3725.6704, + -3220.1157, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3725.6704, + -3220.1157, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3725.6704, + -3220.1157, + 186.9474 + ], + "actual_end_pos": [ + -3725.6704, + -3220.1157, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3725.6704, + -3220.1157, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3725.6704, + -3220.1157, + 186.9474 + ], + "actual_end_pos": [ + -3725.6704, + -3220.1157, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3725.6704, + -3220.1157, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3725.6704, + -3220.1157, + 186.9474 + ], + "actual_end_pos": [ + -3725.6704, + -3220.1157, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3725.6704, + -3220.1157, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3725.6704, + -3220.1157, + 186.9474 + ], + "actual_end_pos": [ + -3725.6704, + -3220.1157, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3725.6704, + -3220.1157, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3725.6704, + -3220.1157, + 186.9474 + ], + "actual_end_pos": [ + -3725.6704, + -3220.1157, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_000498_meta.json b/loop_easy/run_20260413_221314__traj_000498_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d4ac7cdde8e877fbf258a8d299fc5ad82a0c7cf8 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_000498_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 498, + "episode_id": 0, + "state_id": 379, + "sample_index": 379, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -3710.0, + -2240.0, + 200.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "turn_right", + "turn_right", + "move_forward", + "no_op", + "turn_left", + "move_forward", + "move_left", + "move_backward", + "move_backward", + "move_left", + "turn_right", + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_right", + "no_op", + "move_forward", + "move_right", + "move_right", + "no_op", + "turn_left", + "move_backward", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3710.0, + -2240.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3780.7107, + -2310.7107, + 200.0 + ], + "actual_end_pos": [ + -3780.7107, + -2310.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3780.7107, + -2310.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3780.7107, + -2310.7107, + 200.0 + ], + "actual_end_pos": [ + -3780.7107, + -2310.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3780.7107, + -2310.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3780.7107, + -2310.7107, + 200.0 + ], + "actual_end_pos": [ + -3780.7107, + -2310.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3780.7107, + -2310.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3877.3033, + -2284.8288, + 200.0 + ], + "actual_end_pos": [ + -3877.3033, + -2284.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3877.3033, + -2284.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3877.3033, + -2284.8288, + 200.0 + ], + "actual_end_pos": [ + -3877.3033, + -2284.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3877.3033, + -2284.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3877.3033, + -2284.8288, + 200.0 + ], + "actual_end_pos": [ + -3877.3033, + -2284.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3877.3033, + -2284.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3963.9058, + -2234.8288, + 200.0 + ], + "actual_end_pos": [ + -3963.9058, + -2234.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3963.9058, + -2234.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3913.9058, + -2148.2262, + 200.0 + ], + "actual_end_pos": [ + -3913.9058, + -2148.2262, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3913.9058, + -2148.2262, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3827.3033, + -2198.2262, + 200.0 + ], + "actual_end_pos": [ + -3827.3033, + -2198.2262, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3827.3033, + -2198.2262, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3740.7007, + -2248.2262, + 200.0 + ], + "actual_end_pos": [ + -3740.7007, + -2248.2262, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3740.7007, + -2248.2262, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3690.7007, + -2161.6237, + 200.0 + ], + "actual_end_pos": [ + -3690.7007, + -2161.6237, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3690.7007, + -2161.6237, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -3690.7007, + -2161.6237, + 200.0 + ], + "actual_end_pos": [ + -3690.7007, + -2161.6237, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3690.7007, + -2161.6237, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3787.2933, + -2135.7418, + 200.0 + ], + "actual_end_pos": [ + -3787.2933, + -2135.7418, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3787.2933, + -2135.7418, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3883.8859, + -2109.8599, + 200.0 + ], + "actual_end_pos": [ + -3883.8859, + -2109.8599, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3883.8859, + -2109.8599, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3909.7678, + -2206.4525, + 200.0 + ], + "actual_end_pos": [ + -3909.7678, + -2206.4525, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3909.7678, + -2206.4525, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3935.6497, + -2303.045, + 200.0 + ], + "actual_end_pos": [ + -3935.6497, + -2303.045, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3935.6497, + -2303.045, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3961.5316, + -2399.6376, + 200.0 + ], + "actual_end_pos": [ + -3961.5316, + -2399.6376, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3961.5316, + -2399.6376, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -3961.5316, + -2399.6376, + 200.0 + ], + "actual_end_pos": [ + -3961.5316, + -2399.6376, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3961.5316, + -2399.6376, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4058.1242, + -2373.7557, + 200.0 + ], + "actual_end_pos": [ + -4058.1242, + -2373.7557, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4058.1242, + -2373.7557, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4084.0061, + -2470.3483, + 200.0 + ], + "actual_end_pos": [ + -4084.0061, + -2470.3483, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4084.0061, + -2470.3483, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4109.888, + -2566.9409, + 200.0 + ], + "actual_end_pos": [ + -4109.888, + -2566.9409, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4109.888, + -2566.9409, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4109.888, + -2566.9409, + 200.0 + ], + "actual_end_pos": [ + -4109.888, + -2566.9409, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4109.888, + -2566.9409, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4109.888, + -2566.9409, + 200.0 + ], + "actual_end_pos": [ + -4109.888, + -2566.9409, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4109.888, + -2566.9409, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4023.2855, + -2616.9409, + 200.0 + ], + "actual_end_pos": [ + -4023.2855, + -2616.9409, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4023.2855, + -2616.9409, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4023.2855, + -2616.9409, + 200.0 + ], + "actual_end_pos": [ + -4023.2855, + -2616.9409, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4023.2855, + -2616.9409, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3952.5748, + -2546.2302, + 200.0 + ], + "actual_end_pos": [ + -3952.5748, + -2546.2302, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3952.5748, + -2546.2302, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3881.8641, + -2475.5195, + 200.0 + ], + "actual_end_pos": [ + -3881.8641, + -2475.5195, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3881.8641, + -2475.5195, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3811.1534, + -2404.8089, + 200.0 + ], + "actual_end_pos": [ + -3811.1534, + -2404.8089, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3811.1534, + -2404.8089, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3740.4427, + -2334.0982, + 200.0 + ], + "actual_end_pos": [ + -3740.4427, + -2334.0982, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3740.4427, + -2334.0982, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_pos": [ + -3669.7321, + -2263.3875, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_000637_meta.json b/loop_easy/run_20260413_221314__traj_000637_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1a104bcb0f07e41a6dbdc478219c298a8cea5845 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_000637_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 637, + "episode_id": 0, + "state_id": 488, + "sample_index": 488, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -3210.0, + -3740.0, + 200.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_left", + "move_forward", + "turn_left", + "move_forward", + "move_left", + "move_forward", + "turn_left", + "no_op", + "move_forward", + "move_right", + "move_right", + "turn_left", + "move_right", + "move_backward", + "move_left", + "move_backward", + "turn_left", + "move_right", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3210.0, + -3740.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3210.0, + -3740.0, + 200.0 + ], + "actual_end_pos": [ + -3210.0, + -3740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3210.0, + -3740.0, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3184.1181, + -3836.5926, + 200.0 + ], + "actual_end_pos": [ + -3184.1181, + -3836.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3184.1181, + -3836.5926, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3087.5255, + -3810.7107, + 200.0 + ], + "actual_end_pos": [ + -3087.5255, + -3810.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3087.5255, + -3810.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3087.5255, + -3810.7107, + 200.0 + ], + "actual_end_pos": [ + -3087.5255, + -3810.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3087.5255, + -3810.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2987.5255, + -3810.7107, + 200.0 + ], + "actual_end_pos": [ + -2987.5255, + -3810.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2987.5255, + -3810.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2987.5255, + -3910.7107, + 200.0 + ], + "actual_end_pos": [ + -2987.5255, + -3910.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2987.5255, + -3910.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2887.5255, + -3910.7107, + 200.0 + ], + "actual_end_pos": [ + -2887.5255, + -3910.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2887.5255, + -3910.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2887.5255, + -3910.7107, + 200.0 + ], + "actual_end_pos": [ + -2887.5255, + -3910.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2887.5255, + -3910.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2887.5255, + -3910.7107, + 200.0 + ], + "actual_end_pos": [ + -2887.5255, + -3910.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2887.5255, + -3910.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2790.9329, + -3936.5926, + 200.0 + ], + "actual_end_pos": [ + -2790.9329, + -3936.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2790.9329, + -3936.5926, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2765.051, + -3840.0, + 200.0 + ], + "actual_end_pos": [ + -2765.051, + -3840.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2765.051, + -3840.0, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2739.1691, + -3743.4074, + 200.0 + ], + "actual_end_pos": [ + -2739.1691, + -3743.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2739.1691, + -3743.4074, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2739.1691, + -3743.4074, + 200.0 + ], + "actual_end_pos": [ + -2739.1691, + -3743.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2739.1691, + -3743.4074, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2689.1691, + -3656.8049, + 200.0 + ], + "actual_end_pos": [ + -2689.1691, + -3656.8049, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2689.1691, + -3656.8049, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2775.7717, + -3606.8049, + 200.0 + ], + "actual_end_pos": [ + -2775.7717, + -3606.8049, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2775.7717, + -3606.8049, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2825.7717, + -3693.4074, + 200.0 + ], + "actual_end_pos": [ + -2825.7717, + -3693.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2825.7717, + -3693.4074, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2912.3742, + -3643.4074, + 200.0 + ], + "actual_end_pos": [ + -2912.3742, + -3643.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2912.3742, + -3643.4074, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2912.3742, + -3643.4074, + 200.0 + ], + "actual_end_pos": [ + -2912.3742, + -3643.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2912.3742, + -3643.4074, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2841.6635, + -3572.6967, + 200.0 + ], + "actual_end_pos": [ + -2841.6635, + -3572.6967, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2841.6635, + -3572.6967, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2912.3742, + -3643.4074, + 200.0 + ], + "actual_end_pos": [ + -2912.3742, + -3643.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2912.3742, + -3643.4074, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2912.3742, + -3643.4074, + 200.0 + ], + "actual_end_pos": [ + -2912.3742, + -3643.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2912.3742, + -3643.4074, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2912.3742, + -3643.4074, + 200.0 + ], + "actual_end_pos": [ + -2912.3742, + -3643.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2912.3742, + -3643.4074, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2912.3742, + -3643.4074, + 200.0 + ], + "actual_end_pos": [ + -2912.3742, + -3643.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2912.3742, + -3643.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3012.3742, + -3643.4074, + 200.0 + ], + "actual_end_pos": [ + -3012.3742, + -3643.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3012.3742, + -3643.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3112.3742, + -3643.4074, + 200.0 + ], + "actual_end_pos": [ + -3112.3742, + -3643.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3112.3742, + -3643.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3212.3742, + -3643.4074, + 200.0 + ], + "actual_end_pos": [ + -3212.3742, + -3643.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3212.3742, + -3643.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_pos": [ + -3212.3742, + -3743.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_000711_meta.json b/loop_easy/run_20260413_221314__traj_000711_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0f63d5afbe027663f17b9d3a24d78ee5e6dbef43 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_000711_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 711, + "episode_id": 0, + "state_id": 540, + "sample_index": 540, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -3210.0, + -240.0, + 200.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "turn_right", + "move_right", + "turn_right", + "move_forward", + "turn_left", + "move_backward", + "move_backward", + "turn_left", + "no_op", + "move_left", + "turn_left", + "move_backward", + "turn_left", + "no_op", + "move_left", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3210.0, + -240.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3210.0, + -140.0, + 200.0 + ], + "actual_end_pos": [ + -3210.0, + -140.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3210.0, + -140.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3210.0, + -40.0, + 200.0 + ], + "actual_end_pos": [ + -3210.0, + -40.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3210.0, + -40.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3210.0, + -40.0, + 200.0 + ], + "actual_end_pos": [ + -3210.0, + -40.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3210.0, + -40.0, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3184.1181, + -136.5926, + 200.0 + ], + "actual_end_pos": [ + -3184.1181, + -136.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3184.1181, + -136.5926, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3184.1181, + -136.5926, + 200.0 + ], + "actual_end_pos": [ + -3184.1181, + -136.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3184.1181, + -136.5926, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3270.7206, + -186.5926, + 200.0 + ], + "actual_end_pos": [ + -3270.7206, + -186.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3270.7206, + -186.5926, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -3270.7206, + -186.5926, + 200.0 + ], + "actual_end_pos": [ + -3270.7206, + -186.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3270.7206, + -186.5926, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3174.128, + -160.7107, + 200.0 + ], + "actual_end_pos": [ + -3174.128, + -160.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3174.128, + -160.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3077.5355, + -134.8288, + 200.0 + ], + "actual_end_pos": [ + -3077.5355, + -134.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3077.5355, + -134.8288, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -3077.5355, + -134.8288, + 200.0 + ], + "actual_end_pos": [ + -3077.5355, + -134.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3077.5355, + -134.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3077.5355, + -134.8288, + 200.0 + ], + "actual_end_pos": [ + -3077.5355, + -134.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3077.5355, + -134.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3077.5355, + -34.8288, + 200.0 + ], + "actual_end_pos": [ + -3077.5355, + -34.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3077.5355, + -34.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3077.5355, + -34.8288, + 200.0 + ], + "actual_end_pos": [ + -3077.5355, + -34.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3077.5355, + -34.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2980.9429, + -60.7107, + 200.0 + ], + "actual_end_pos": [ + -2980.9429, + -60.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2980.9429, + -60.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2980.9429, + -60.7107, + 200.0 + ], + "actual_end_pos": [ + -2980.9429, + -60.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2980.9429, + -60.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2980.9429, + -60.7107, + 200.0 + ], + "actual_end_pos": [ + -2980.9429, + -60.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2980.9429, + -60.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2930.9429, + 25.8919, + 200.0 + ], + "actual_end_pos": [ + -2930.9429, + 25.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2930.9429, + 25.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2930.9429, + 25.8919, + 200.0 + ], + "actual_end_pos": [ + -2930.9429, + 25.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2930.9429, + 25.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -2930.9429, + 25.8919, + 200.0 + ], + "actual_end_pos": [ + -2930.9429, + 25.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2930.9429, + 25.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3030.9429, + 25.8919, + 200.0 + ], + "actual_end_pos": [ + -3030.9429, + 25.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3030.9429, + 25.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3130.9429, + 25.8919, + 200.0 + ], + "actual_end_pos": [ + -3130.9429, + 25.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3130.9429, + 25.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3230.9429, + 25.8919, + 200.0 + ], + "actual_end_pos": [ + -3230.9429, + 25.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3230.9429, + 25.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3230.9429, + -74.1081, + 200.0 + ], + "actual_end_pos": [ + -3230.9429, + -74.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3230.9429, + -74.1081, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3230.9429, + -174.1081, + 200.0 + ], + "actual_end_pos": [ + -3230.9429, + -174.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3230.9429, + -174.1081, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_pos": [ + -3230.9429, + -274.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_000877_meta.json b/loop_easy/run_20260413_221314__traj_000877_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2efd4b3f7402dc1c2b18dc0c38d5e103c1c05a56 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_000877_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 877, + "episode_id": 0, + "state_id": 664, + "sample_index": 664, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2710.0, + -2240.0, + 200.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "look_up", + "move_backward", + "turn_right", + "move_right", + "move_right", + "move_forward", + "turn_left", + "move_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_backward", + "turn_left", + "look_down", + "turn_right", + "move_backward", + "turn_left", + "move_right", + "move_right", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "look_up", + "turn_right", + "look_down", + "move_forward", + "move_forward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2710.0, + -2240.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2710.0, + -2240.0, + 200.0 + ], + "actual_end_pos": [ + -2710.0, + -2240.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2710.0, + -2240.0, + 200.0 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2809.1445, + -2240.0, + 186.9474 + ], + "actual_end_pos": [ + -2809.1445, + -2240.0, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2809.1445, + -2240.0, + 186.9474 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2809.1445, + -2240.0, + 186.9474 + ], + "actual_end_pos": [ + -2809.1445, + -2240.0, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2809.1445, + -2240.0, + 186.9474 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -2835.0264, + -2143.4074, + 186.9474 + ], + "actual_end_pos": [ + -2835.0264, + -2143.4074, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2835.0264, + -2143.4074, + 186.9474 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -2860.9083, + -2046.8148, + 186.9474 + ], + "actual_end_pos": [ + -2860.9083, + -2046.8148, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2860.9083, + -2046.8148, + 186.9474 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -2765.1421, + -2021.1544, + 200.0 + ], + "actual_end_pos": [ + -2765.1421, + -2021.1544, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2765.1421, + -2021.1544, + 200.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -2765.1421, + -2021.1544, + 200.0 + ], + "actual_end_pos": [ + -2765.1421, + -2021.1544, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2765.1421, + -2021.1544, + 200.0 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2765.1421, + -1921.1544, + 200.0 + ], + "actual_end_pos": [ + -2765.1421, + -1921.1544, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2765.1421, + -1921.1544, + 200.0 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2765.1421, + -1921.1544, + 200.0 + ], + "actual_end_pos": [ + -2765.1421, + -1921.1544, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2765.1421, + -1921.1544, + 200.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -2739.2602, + -2017.7469, + 200.0 + ], + "actual_end_pos": [ + -2739.2602, + -2017.7469, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2739.2602, + -2017.7469, + 200.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -2713.3783, + -2114.3395, + 200.0 + ], + "actual_end_pos": [ + -2713.3783, + -2114.3395, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2713.3783, + -2114.3395, + 200.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -2687.4964, + -2210.9321, + 200.0 + ], + "actual_end_pos": [ + -2687.4964, + -2210.9321, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2687.4964, + -2210.9321, + 200.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -2687.4964, + -2210.9321, + 200.0 + ], + "actual_end_pos": [ + -2687.4964, + -2210.9321, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2687.4964, + -2210.9321, + 200.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2687.4964, + -2210.9321, + 200.0 + ], + "actual_end_pos": [ + -2687.4964, + -2210.9321, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2687.4964, + -2210.9321, + 200.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2757.6021, + -2281.0378, + 186.9474 + ], + "actual_end_pos": [ + -2757.6021, + -2281.0378, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2757.6021, + -2281.0378, + 186.9474 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2757.6021, + -2281.0378, + 186.9474 + ], + "actual_end_pos": [ + -2757.6021, + -2281.0378, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2757.6021, + -2281.0378, + 186.9474 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2757.6021, + -2281.0378, + 186.9474 + ], + "actual_end_pos": [ + -2757.6021, + -2281.0378, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2757.6021, + -2281.0378, + 186.9474 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2757.6021, + -2281.0378, + 186.9474 + ], + "actual_end_pos": [ + -2757.6021, + -2281.0378, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2757.6021, + -2281.0378, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2828.3128, + -2351.7485, + 186.9474 + ], + "actual_end_pos": [ + -2828.3128, + -2351.7485, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2828.3128, + -2351.7485, + 186.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2828.3128, + -2351.7485, + 186.9474 + ], + "actual_end_pos": [ + -2828.3128, + -2351.7485, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2828.3128, + -2351.7485, + 186.9474 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2878.3128, + -2265.146, + 186.9474 + ], + "actual_end_pos": [ + -2878.3128, + -2265.146, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2878.3128, + -2265.146, + 186.9474 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2928.3128, + -2178.5434, + 186.9474 + ], + "actual_end_pos": [ + -2928.3128, + -2178.5434, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2928.3128, + -2178.5434, + 186.9474 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2841.7102, + -2128.5434, + 186.9474 + ], + "actual_end_pos": [ + -2841.7102, + -2128.5434, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2841.7102, + -2128.5434, + 186.9474 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2841.7102, + -2128.5434, + 186.9474 + ], + "actual_end_pos": [ + -2841.7102, + -2128.5434, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2841.7102, + -2128.5434, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2841.7102, + -2128.5434, + 186.9474 + ], + "actual_end_pos": [ + -2841.7102, + -2128.5434, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2841.7102, + -2128.5434, + 186.9474 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -2841.7102, + -2128.5434, + 186.9474 + ], + "actual_end_pos": [ + -2841.7102, + -2128.5434, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2841.7102, + -2128.5434, + 186.9474 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2938.3028, + -2102.6615, + 186.9474 + ], + "actual_end_pos": [ + -2938.3028, + -2102.6615, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2938.3028, + -2102.6615, + 186.9474 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2938.3028, + -2102.6615, + 186.9474 + ], + "actual_end_pos": [ + -2938.3028, + -2102.6615, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2938.3028, + -2102.6615, + 186.9474 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2938.3028, + -2102.6615, + 186.9474 + ], + "actual_end_pos": [ + -2938.3028, + -2102.6615, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2938.3028, + -2102.6615, + 186.9474 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2938.3028, + -2102.6615, + 186.9474 + ], + "actual_end_pos": [ + -2938.3028, + -2102.6615, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2938.3028, + -2102.6615, + 186.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2838.3028, + -2102.6615, + 186.9474 + ], + "actual_end_pos": [ + -2838.3028, + -2102.6615, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2838.3028, + -2102.6615, + 186.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2738.3028, + -2102.6615, + 186.9474 + ], + "actual_end_pos": [ + -2738.3028, + -2102.6615, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2738.3028, + -2102.6615, + 186.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "actual_end_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "actual_end_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "actual_end_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "actual_end_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "actual_end_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "actual_end_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "actual_end_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "actual_end_pos": [ + -2738.3028, + -2202.6615, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_001051_meta.json b/loop_easy/run_20260413_221314__traj_001051_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db265bbc53b92fc82e82ab4753b53ae5fbcb0362 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_001051_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1051, + "episode_id": 0, + "state_id": 794, + "sample_index": 794, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2210.0, + -2740.0, + 200.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_left", + "turn_right", + "move_left", + "no_op", + "move_right", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "move_left", + "move_forward", + "move_forward", + "move_left", + "no_op", + "move_left", + "move_right", + "move_backward", + "turn_right", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2210.0, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2210.0, + -2640.0, + 200.0 + ], + "actual_end_pos": [ + -2210.0, + -2640.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2210.0, + -2640.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2110.0, + -2640.0, + 200.0 + ], + "actual_end_pos": [ + -2110.0, + -2640.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2110.0, + -2640.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2110.0, + -2640.0, + 200.0 + ], + "actual_end_pos": [ + -2110.0, + -2640.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2110.0, + -2640.0, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2013.4074, + -2614.1181, + 200.0 + ], + "actual_end_pos": [ + -2013.4074, + -2614.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2013.4074, + -2614.1181, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2013.4074, + -2614.1181, + 200.0 + ], + "actual_end_pos": [ + -2013.4074, + -2614.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2013.4074, + -2614.1181, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2110.0, + -2640.0, + 200.0 + ], + "actual_end_pos": [ + -2110.0, + -2640.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2110.0, + -2640.0, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2206.5926, + -2665.8819, + 200.0 + ], + "actual_end_pos": [ + -2206.5926, + -2665.8819, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2206.5926, + -2665.8819, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2232.4745, + -2569.2893, + 200.0 + ], + "actual_end_pos": [ + -2232.4745, + -2569.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2232.4745, + -2569.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2258.3564, + -2472.6967, + 200.0 + ], + "actual_end_pos": [ + -2258.3564, + -2472.6967, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2258.3564, + -2472.6967, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2284.2383, + -2376.1042, + 200.0 + ], + "actual_end_pos": [ + -2284.2383, + -2376.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2284.2383, + -2376.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2284.2383, + -2376.1042, + 200.0 + ], + "actual_end_pos": [ + -2284.2383, + -2376.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2284.2383, + -2376.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2184.2383, + -2376.1042, + 200.0 + ], + "actual_end_pos": [ + -2184.2383, + -2376.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2184.2383, + -2376.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2184.2383, + -2276.1042, + 200.0 + ], + "actual_end_pos": [ + -2184.2383, + -2276.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2184.2383, + -2276.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2184.2383, + -2176.1042, + 200.0 + ], + "actual_end_pos": [ + -2184.2383, + -2176.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2184.2383, + -2176.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2084.2383, + -2176.1042, + 200.0 + ], + "actual_end_pos": [ + -2084.2383, + -2176.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2084.2383, + -2176.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2084.2383, + -2176.1042, + 200.0 + ], + "actual_end_pos": [ + -2084.2383, + -2176.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2084.2383, + -2176.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1984.2383, + -2176.1042, + 200.0 + ], + "actual_end_pos": [ + -1984.2383, + -2176.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1984.2383, + -2176.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2084.2383, + -2176.1042, + 200.0 + ], + "actual_end_pos": [ + -2084.2383, + -2176.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2084.2383, + -2176.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2084.2383, + -2276.1042, + 200.0 + ], + "actual_end_pos": [ + -2084.2383, + -2276.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2084.2383, + -2276.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2084.2383, + -2276.1042, + 200.0 + ], + "actual_end_pos": [ + -2084.2383, + -2276.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2084.2383, + -2276.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2084.2383, + -2276.1042, + 200.0 + ], + "actual_end_pos": [ + -2084.2383, + -2276.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2084.2383, + -2276.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2084.2383, + -2376.1042, + 200.0 + ], + "actual_end_pos": [ + -2084.2383, + -2376.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2084.2383, + -2376.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2084.2383, + -2476.1042, + 200.0 + ], + "actual_end_pos": [ + -2084.2383, + -2476.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2084.2383, + -2476.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2084.2383, + -2576.1042, + 200.0 + ], + "actual_end_pos": [ + -2084.2383, + -2576.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2084.2383, + -2576.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2084.2383, + -2676.1042, + 200.0 + ], + "actual_end_pos": [ + -2084.2383, + -2676.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2084.2383, + -2676.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2084.2383, + -2776.1042, + 200.0 + ], + "actual_end_pos": [ + -2084.2383, + -2776.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2084.2383, + -2776.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_pos": [ + -2184.2383, + -2776.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_001081_meta.json b/loop_easy/run_20260413_221314__traj_001081_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..36f92875bf6ec864deabd804aae1e842c686cd22 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_001081_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1081, + "episode_id": 0, + "state_id": 815, + "sample_index": 815, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2210.0, + -1740.0, + 200.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "look_down", + "move_backward", + "turn_right", + "turn_right", + "move_left", + "look_up", + "look_up", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "look_down", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2210.0, + -1740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2139.2893, + -1669.2893, + 200.0 + ], + "actual_end_pos": [ + -2139.2893, + -1669.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2139.2893, + -1669.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2068.5786, + -1598.5786, + 200.0 + ], + "actual_end_pos": [ + -2068.5786, + -1598.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2068.5786, + -1598.5786, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2068.5786, + -1598.5786, + 200.0 + ], + "actual_end_pos": [ + -2068.5786, + -1598.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2068.5786, + -1598.5786, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2068.5786, + -1598.5786, + 200.0 + ], + "actual_end_pos": [ + -2068.5786, + -1598.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2068.5786, + -1598.5786, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2068.5786, + -1598.5786, + 200.0 + ], + "actual_end_pos": [ + -2068.5786, + -1598.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2068.5786, + -1598.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1968.5786, + -1598.5786, + 200.0 + ], + "actual_end_pos": [ + -1968.5786, + -1598.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1968.5786, + -1598.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1868.5786, + -1598.5786, + 200.0 + ], + "actual_end_pos": [ + -1868.5786, + -1598.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1868.5786, + -1598.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1768.5786, + -1598.5786, + 200.0 + ], + "actual_end_pos": [ + -1768.5786, + -1598.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1768.5786, + -1598.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1768.5786, + -1598.5786, + 200.0 + ], + "actual_end_pos": [ + -1768.5786, + -1598.5786, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1768.5786, + -1598.5786, + 200.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1867.7231, + -1598.5786, + 213.0526 + ], + "actual_end_pos": [ + -1867.7231, + -1598.5786, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1867.7231, + -1598.5786, + 213.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1867.7231, + -1598.5786, + 213.0526 + ], + "actual_end_pos": [ + -1867.7231, + -1598.5786, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1867.7231, + -1598.5786, + 213.0526 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1867.7231, + -1598.5786, + 213.0526 + ], + "actual_end_pos": [ + -1867.7231, + -1598.5786, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1867.7231, + -1598.5786, + 213.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "actual_end_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "actual_end_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "actual_end_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "actual_end_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "actual_end_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "actual_end_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "actual_end_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "actual_end_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "actual_end_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1817.7231, + -1685.1812, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1888.4338, + -1614.4705, + 213.0526 + ], + "actual_end_pos": [ + -1888.4338, + -1614.4705, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1888.4338, + -1614.4705, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1959.1445, + -1543.7598, + 213.0526 + ], + "actual_end_pos": [ + -1959.1445, + -1543.7598, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1959.1445, + -1543.7598, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2029.8552, + -1614.4705, + 213.0526 + ], + "actual_end_pos": [ + -2029.8552, + -1614.4705, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2029.8552, + -1614.4705, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2100.5658, + -1685.1812, + 213.0526 + ], + "actual_end_pos": [ + -2100.5658, + -1685.1812, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2100.5658, + -1685.1812, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_pos": [ + -2171.2765, + -1755.8919, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_001101_meta.json b/loop_easy/run_20260413_221314__traj_001101_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eef143ef9d74757748a6859943d4298f528dca57 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_001101_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1101, + "episode_id": 0, + "state_id": 830, + "sample_index": 830, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2210.0, + 260.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_forward", + "move_forward", + "move_left", + "move_left", + "turn_right", + "turn_right", + "no_op", + "turn_left", + "move_right", + "no_op", + "look_up", + "move_left", + "turn_right", + "no_op", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_forward", + "move_left", + "turn_left", + "move_left", + "turn_right", + "turn_left", + "turn_left", + "look_down", + "move_backward", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2210.0, + 260.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2110.0, + 260.0, + 200.0 + ], + "actual_end_pos": [ + -2110.0, + 260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2110.0, + 260.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2110.0, + 160.0, + 200.0 + ], + "actual_end_pos": [ + -2110.0, + 160.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2110.0, + 160.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2110.0, + 60.0, + 200.0 + ], + "actual_end_pos": [ + -2110.0, + 60.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2110.0, + 60.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2210.0, + 60.0, + 200.0 + ], + "actual_end_pos": [ + -2210.0, + 60.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2210.0, + 60.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "actual_end_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "actual_end_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "actual_end_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "actual_end_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "actual_end_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2213.4074, + 85.8819, + 200.0 + ], + "actual_end_pos": [ + -2213.4074, + 85.8819, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2213.4074, + 85.8819, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2213.4074, + 85.8819, + 200.0 + ], + "actual_end_pos": [ + -2213.4074, + 85.8819, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2213.4074, + 85.8819, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2213.4074, + 85.8819, + 200.0 + ], + "actual_end_pos": [ + -2213.4074, + 85.8819, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2213.4074, + 85.8819, + 200.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "actual_end_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "actual_end_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "actual_end_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2310.0, + 60.0, + 200.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2359.5722, + 145.8616, + 186.9474 + ], + "actual_end_pos": [ + -2359.5722, + 145.8616, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2359.5722, + 145.8616, + 186.9474 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2409.1445, + 231.7233, + 173.8948 + ], + "actual_end_pos": [ + -2409.1445, + 231.7233, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2409.1445, + 231.7233, + 173.8948 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2322.5419, + 281.7233, + 173.8948 + ], + "actual_end_pos": [ + -2322.5419, + 281.7233, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2322.5419, + 281.7233, + 173.8948 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2235.9394, + 331.7233, + 173.8948 + ], + "actual_end_pos": [ + -2235.9394, + 331.7233, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2235.9394, + 331.7233, + 173.8948 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2186.3672, + 245.8616, + 186.9474 + ], + "actual_end_pos": [ + -2186.3672, + 245.8616, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2186.3672, + 245.8616, + 186.9474 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2272.9697, + 195.8616, + 186.9474 + ], + "actual_end_pos": [ + -2272.9697, + 195.8616, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2272.9697, + 195.8616, + 186.9474 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2272.9697, + 195.8616, + 186.9474 + ], + "actual_end_pos": [ + -2272.9697, + 195.8616, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2272.9697, + 195.8616, + 186.9474 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2369.5623, + 169.9797, + 186.9474 + ], + "actual_end_pos": [ + -2369.5623, + 169.9797, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2369.5623, + 169.9797, + 186.9474 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2369.5623, + 169.9797, + 186.9474 + ], + "actual_end_pos": [ + -2369.5623, + 169.9797, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2369.5623, + 169.9797, + 186.9474 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -2369.5623, + 169.9797, + 186.9474 + ], + "actual_end_pos": [ + -2369.5623, + 169.9797, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2369.5623, + 169.9797, + 186.9474 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -2369.5623, + 169.9797, + 186.9474 + ], + "actual_end_pos": [ + -2369.5623, + 169.9797, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2369.5623, + 169.9797, + 186.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2369.5623, + 169.9797, + 186.9474 + ], + "actual_end_pos": [ + -2369.5623, + 169.9797, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2369.5623, + 169.9797, + 186.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2369.5623, + 269.9797, + 186.9474 + ], + "actual_end_pos": [ + -2369.5623, + 269.9797, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2369.5623, + 269.9797, + 186.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2269.5623, + 269.9797, + 186.9474 + ], + "actual_end_pos": [ + -2269.5623, + 269.9797, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2269.5623, + 269.9797, + 186.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_pos": [ + -2169.5623, + 269.9797, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_001174_meta.json b/loop_easy/run_20260413_221314__traj_001174_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cdd1e359148fedc8a2a4a32e8b6148149c1c92cc --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_001174_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1174, + "episode_id": 0, + "state_id": 881, + "sample_index": 881, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2210.0, + 5760.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_right", + "move_forward", + "move_forward", + "turn_right", + "move_forward", + "turn_right", + "move_right", + "move_forward", + "move_right", + "turn_left", + "look_down", + "turn_right", + "move_right", + "move_right", + "move_forward", + "turn_left", + "move_forward", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2210.0, + 5760.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2139.2893, + 5830.7107, + 200.0 + ], + "actual_end_pos": [ + -2139.2893, + 5830.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2139.2893, + 5830.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2210.0, + 5901.4214, + 200.0 + ], + "actual_end_pos": [ + -2210.0, + 5901.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2210.0, + 5901.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2139.2893, + 5972.132, + 200.0 + ], + "actual_end_pos": [ + -2139.2893, + 5972.132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2139.2893, + 5972.132, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2068.5786, + 6042.8427, + 200.0 + ], + "actual_end_pos": [ + -2068.5786, + 6042.8427, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2068.5786, + 6042.8427, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2068.5786, + 6042.8427, + 200.0 + ], + "actual_end_pos": [ + -2068.5786, + 6042.8427, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2068.5786, + 6042.8427, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2018.5786, + 6129.4453, + 200.0 + ], + "actual_end_pos": [ + -2018.5786, + 6129.4453, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2018.5786, + 6129.4453, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2018.5786, + 6129.4453, + 200.0 + ], + "actual_end_pos": [ + -2018.5786, + 6129.4453, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2018.5786, + 6129.4453, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2115.1712, + 6155.3272, + 200.0 + ], + "actual_end_pos": [ + -2115.1712, + 6155.3272, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2115.1712, + 6155.3272, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2089.2893, + 6251.9197, + 200.0 + ], + "actual_end_pos": [ + -2089.2893, + 6251.9197, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2089.2893, + 6251.9197, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2185.8819, + 6277.8016, + 200.0 + ], + "actual_end_pos": [ + -2185.8819, + 6277.8016, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2185.8819, + 6277.8016, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2185.8819, + 6277.8016, + 200.0 + ], + "actual_end_pos": [ + -2185.8819, + 6277.8016, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2185.8819, + 6277.8016, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2185.8819, + 6277.8016, + 200.0 + ], + "actual_end_pos": [ + -2185.8819, + 6277.8016, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2185.8819, + 6277.8016, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + -2185.8819, + 6277.8016, + 200.0 + ], + "actual_end_pos": [ + -2185.8819, + 6277.8016, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2185.8819, + 6277.8016, + 200.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2282.4745, + 6303.6836, + 200.0 + ], + "actual_end_pos": [ + -2282.4745, + 6303.6836, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2282.4745, + 6303.6836, + 200.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2379.0671, + 6329.5655, + 200.0 + ], + "actual_end_pos": [ + -2379.0671, + 6329.5655, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2379.0671, + 6329.5655, + 200.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2353.4066, + 6425.3317, + 186.9474 + ], + "actual_end_pos": [ + -2353.4066, + 6425.3317, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2353.4066, + 6425.3317, + 186.9474 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2353.4066, + 6425.3317, + 186.9474 + ], + "actual_end_pos": [ + -2353.4066, + 6425.3317, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2353.4066, + 6425.3317, + 186.9474 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2303.8343, + 6511.1933, + 173.8948 + ], + "actual_end_pos": [ + -2303.8343, + 6511.1933, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2303.8343, + 6511.1933, + 173.8948 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2217.2318, + 6461.1933, + 173.8948 + ], + "actual_end_pos": [ + -2217.2318, + 6461.1933, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2217.2318, + 6461.1933, + 173.8948 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2130.6293, + 6411.1933, + 173.8948 + ], + "actual_end_pos": [ + -2130.6293, + 6411.1933, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2130.6293, + 6411.1933, + 173.8948 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2130.6293, + 6411.1933, + 173.8948 + ], + "actual_end_pos": [ + -2130.6293, + 6411.1933, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2130.6293, + 6411.1933, + 173.8948 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2130.6293, + 6411.1933, + 173.8948 + ], + "actual_end_pos": [ + -2130.6293, + 6411.1933, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2130.6293, + 6411.1933, + 173.8948 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2130.6293, + 6411.1933, + 173.8948 + ], + "actual_end_pos": [ + -2130.6293, + 6411.1933, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2130.6293, + 6411.1933, + 173.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2034.0367, + 6437.0752, + 173.8948 + ], + "actual_end_pos": [ + -2034.0367, + 6437.0752, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2034.0367, + 6437.0752, + 173.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1937.4441, + 6462.9571, + 173.8948 + ], + "actual_end_pos": [ + -1937.4441, + 6462.9571, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1937.4441, + 6462.9571, + 173.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1937.4441, + 6462.9571, + 173.8948 + ], + "actual_end_pos": [ + -1937.4441, + 6462.9571, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1937.4441, + 6462.9571, + 173.8948 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1937.4441, + 6462.9571, + 173.8948 + ], + "actual_end_pos": [ + -1937.4441, + 6462.9571, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1937.4441, + 6462.9571, + 173.8948 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1937.4441, + 6462.9571, + 173.8948 + ], + "actual_end_pos": [ + -1937.4441, + 6462.9571, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1937.4441, + 6462.9571, + 173.8948 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1937.4441, + 6462.9571, + 173.8948 + ], + "actual_end_pos": [ + -1937.4441, + 6462.9571, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1937.4441, + 6462.9571, + 173.8948 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1937.4441, + 6462.9571, + 173.8948 + ], + "actual_end_pos": [ + -1937.4441, + 6462.9571, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1937.4441, + 6462.9571, + 173.8948 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2008.1548, + 6392.2464, + 173.8948 + ], + "actual_end_pos": [ + -2008.1548, + 6392.2464, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2008.1548, + 6392.2464, + 173.8948 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2078.8655, + 6321.5358, + 173.8948 + ], + "actual_end_pos": [ + -2078.8655, + 6321.5358, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2078.8655, + 6321.5358, + 173.8948 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2149.5761, + 6250.8251, + 173.8948 + ], + "actual_end_pos": [ + -2149.5761, + 6250.8251, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2149.5761, + 6250.8251, + 173.8948 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2220.2868, + 6180.1144, + 173.8948 + ], + "actual_end_pos": [ + -2220.2868, + 6180.1144, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2220.2868, + 6180.1144, + 173.8948 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2290.9975, + 6109.4037, + 173.8948 + ], + "actual_end_pos": [ + -2290.9975, + 6109.4037, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2290.9975, + 6109.4037, + 173.8948 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2361.7082, + 6038.6931, + 173.8948 + ], + "actual_end_pos": [ + -2361.7082, + 6038.6931, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2361.7082, + 6038.6931, + 173.8948 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2432.4188, + 5967.9824, + 173.8948 + ], + "actual_end_pos": [ + -2432.4188, + 5967.9824, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2432.4188, + 5967.9824, + 173.8948 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2361.7082, + 5897.2717, + 173.8948 + ], + "actual_end_pos": [ + -2361.7082, + 5897.2717, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2361.7082, + 5897.2717, + 173.8948 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2290.9975, + 5826.561, + 173.8948 + ], + "actual_end_pos": [ + -2290.9975, + 5826.561, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2290.9975, + 5826.561, + 173.8948 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2220.2868, + 5755.8503, + 173.8948 + ], + "actual_end_pos": [ + -2220.2868, + 5755.8503, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_001186_meta.json b/loop_easy/run_20260413_221314__traj_001186_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ed1da3e69d86fabe90ee1ce94b9b855e657d3111 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_001186_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1186, + "episode_id": 0, + "state_id": 891, + "sample_index": 891, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2210.0, + 6260.0, + 200.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_left", + "move_forward", + "turn_left", + "move_left", + "no_op", + "look_down", + "no_op", + "move_forward", + "move_forward", + "move_left", + "move_backward", + "move_left", + "move_forward", + "turn_left", + "move_backward", + "move_right", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_left", + "move_backward", + "no_op", + "turn_right", + "turn_right", + "turn_right", + "look_up", + "move_backward", + "move_backward", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2210.0, + 6260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2210.0, + 6260.0, + 200.0 + ], + "actual_end_pos": [ + -2210.0, + 6260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2210.0, + 6260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2160.0, + 6346.6025, + 200.0 + ], + "actual_end_pos": [ + -2160.0, + 6346.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2160.0, + 6346.6025, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2246.6025, + 6396.6025, + 200.0 + ], + "actual_end_pos": [ + -2246.6025, + 6396.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2246.6025, + 6396.6025, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2246.6025, + 6396.6025, + 200.0 + ], + "actual_end_pos": [ + -2246.6025, + 6396.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2246.6025, + 6396.6025, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2175.8919, + 6467.3132, + 200.0 + ], + "actual_end_pos": [ + -2175.8919, + 6467.3132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2175.8919, + 6467.3132, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2175.8919, + 6467.3132, + 200.0 + ], + "actual_end_pos": [ + -2175.8919, + 6467.3132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2175.8919, + 6467.3132, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2175.8919, + 6467.3132, + 200.0 + ], + "actual_end_pos": [ + -2175.8919, + 6467.3132, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2175.8919, + 6467.3132, + 200.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2175.8919, + 6467.3132, + 200.0 + ], + "actual_end_pos": [ + -2175.8919, + 6467.3132, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2175.8919, + 6467.3132, + 200.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2245.9976, + 6537.419, + 186.9474 + ], + "actual_end_pos": [ + -2245.9976, + 6537.419, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2245.9976, + 6537.419, + 186.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2316.1033, + 6607.5247, + 173.8948 + ], + "actual_end_pos": [ + -2316.1033, + 6607.5247, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2316.1033, + 6607.5247, + 173.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2245.3927, + 6678.2354, + 173.8948 + ], + "actual_end_pos": [ + -2245.3927, + 6678.2354, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2245.3927, + 6678.2354, + 173.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2175.2869, + 6608.1296, + 186.9474 + ], + "actual_end_pos": [ + -2175.2869, + 6608.1296, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2175.2869, + 6608.1296, + 186.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2104.5762, + 6678.8403, + 186.9474 + ], + "actual_end_pos": [ + -2104.5762, + 6678.8403, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2104.5762, + 6678.8403, + 186.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2174.682, + 6748.9461, + 173.8948 + ], + "actual_end_pos": [ + -2174.682, + 6748.9461, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2174.682, + 6748.9461, + 173.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2174.682, + 6748.9461, + 173.8948 + ], + "actual_end_pos": [ + -2174.682, + 6748.9461, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2174.682, + 6748.9461, + 173.8948 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2125.1097, + 6663.0844, + 186.9474 + ], + "actual_end_pos": [ + -2125.1097, + 6663.0844, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2125.1097, + 6663.0844, + 186.9474 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2211.7123, + 6613.0844, + 186.9474 + ], + "actual_end_pos": [ + -2211.7123, + 6613.0844, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2211.7123, + 6613.0844, + 186.9474 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2261.2845, + 6698.9461, + 173.8948 + ], + "actual_end_pos": [ + -2261.2845, + 6698.9461, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2261.2845, + 6698.9461, + 173.8948 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2310.8568, + 6784.8077, + 160.8421 + ], + "actual_end_pos": [ + -2310.8568, + 6784.8077, + 160.8421 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2310.8568, + 6784.8077, + 160.8421 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2310.8568, + 6784.8077, + 160.8421 + ], + "actual_end_pos": [ + -2310.8568, + 6784.8077, + 160.8421 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2310.8568, + 6784.8077, + 160.8421 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2310.8568, + 6784.8077, + 160.8421 + ], + "actual_end_pos": [ + -2310.8568, + 6784.8077, + 160.8421 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2310.8568, + 6784.8077, + 160.8421 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2310.8568, + 6685.6632, + 173.8948 + ], + "actual_end_pos": [ + -2310.8568, + 6685.6632, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2310.8568, + 6685.6632, + 173.8948 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2310.8568, + 6586.5187, + 186.9474 + ], + "actual_end_pos": [ + -2310.8568, + 6586.5187, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2310.8568, + 6586.5187, + 186.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2210.8568, + 6586.5187, + 186.9474 + ], + "actual_end_pos": [ + -2210.8568, + 6586.5187, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2210.8568, + 6586.5187, + 186.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2210.8568, + 6487.3742, + 200.0 + ], + "actual_end_pos": [ + -2210.8568, + 6487.3742, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2210.8568, + 6487.3742, + 200.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2210.8568, + 6487.3742, + 200.0 + ], + "actual_end_pos": [ + -2210.8568, + 6487.3742, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2210.8568, + 6487.3742, + 200.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2210.8568, + 6487.3742, + 200.0 + ], + "actual_end_pos": [ + -2210.8568, + 6487.3742, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2210.8568, + 6487.3742, + 200.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2210.8568, + 6487.3742, + 200.0 + ], + "actual_end_pos": [ + -2210.8568, + 6487.3742, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2210.8568, + 6487.3742, + 200.0 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2210.8568, + 6487.3742, + 200.0 + ], + "actual_end_pos": [ + -2210.8568, + 6487.3742, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2210.8568, + 6487.3742, + 200.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2210.8568, + 6487.3742, + 200.0 + ], + "actual_end_pos": [ + -2210.8568, + 6487.3742, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2210.8568, + 6487.3742, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2140.1461, + 6416.6636, + 200.0 + ], + "actual_end_pos": [ + -2140.1461, + 6416.6636, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2140.1461, + 6416.6636, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2069.4354, + 6345.9529, + 200.0 + ], + "actual_end_pos": [ + -2069.4354, + 6345.9529, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2069.4354, + 6345.9529, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2140.1461, + 6275.2422, + 200.0 + ], + "actual_end_pos": [ + -2140.1461, + 6275.2422, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2140.1461, + 6275.2422, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2210.8568, + 6204.5315, + 200.0 + ], + "actual_end_pos": [ + -2210.8568, + 6204.5315, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2210.8568, + 6204.5315, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2210.8568, + 6204.5315, + 200.0 + ], + "actual_end_pos": [ + -2210.8568, + 6204.5315, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2210.8568, + 6204.5315, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2210.8568, + 6204.5315, + 200.0 + ], + "actual_end_pos": [ + -2210.8568, + 6204.5315, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2210.8568, + 6204.5315, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2210.8568, + 6204.5315, + 200.0 + ], + "actual_end_pos": [ + -2210.8568, + 6204.5315, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2210.8568, + 6204.5315, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2210.8568, + 6204.5315, + 200.0 + ], + "actual_end_pos": [ + -2210.8568, + 6204.5315, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2210.8568, + 6204.5315, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2210.8568, + 6204.5315, + 200.0 + ], + "actual_end_pos": [ + -2210.8568, + 6204.5315, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2210.8568, + 6204.5315, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2210.8568, + 6204.5315, + 200.0 + ], + "actual_end_pos": [ + -2210.8568, + 6204.5315, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_001192_meta.json b/loop_easy/run_20260413_221314__traj_001192_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d1768f21e184d8980a3f97683cf7d5ad780a2945 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_001192_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1192, + "episode_id": 0, + "state_id": 896, + "sample_index": 896, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1710.0, + -3740.0, + 200.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_right", + "move_forward", + "move_right", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "move_left", + "move_forward", + "turn_left", + "move_backward", + "move_right", + "move_backward", + "move_right", + "move_forward", + "move_left", + "look_down", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1710.0, + -3740.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1710.0, + -3740.0, + 200.0 + ], + "actual_end_pos": [ + -1710.0, + -3740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1710.0, + -3740.0, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1735.8819, + -3643.4074, + 200.0 + ], + "actual_end_pos": [ + -1735.8819, + -3643.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1735.8819, + -3643.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1639.2893, + -3617.5255, + 200.0 + ], + "actual_end_pos": [ + -1639.2893, + -3617.5255, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1639.2893, + -3617.5255, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1665.1712, + -3520.9329, + 200.0 + ], + "actual_end_pos": [ + -1665.1712, + -3520.9329, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1665.1712, + -3520.9329, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1691.0531, + -3424.3403, + 200.0 + ], + "actual_end_pos": [ + -1691.0531, + -3424.3403, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1691.0531, + -3424.3403, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1594.4605, + -3398.4584, + 200.0 + ], + "actual_end_pos": [ + -1594.4605, + -3398.4584, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1594.4605, + -3398.4584, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1497.868, + -3372.5765, + 200.0 + ], + "actual_end_pos": [ + -1497.868, + -3372.5765, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1497.868, + -3372.5765, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1401.2754, + -3346.6946, + 200.0 + ], + "actual_end_pos": [ + -1401.2754, + -3346.6946, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1401.2754, + -3346.6946, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1375.3935, + -3443.2872, + 200.0 + ], + "actual_end_pos": [ + -1375.3935, + -3443.2872, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1375.3935, + -3443.2872, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1278.8009, + -3417.4053, + 200.0 + ], + "actual_end_pos": [ + -1278.8009, + -3417.4053, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1278.8009, + -3417.4053, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1182.2083, + -3391.5234, + 200.0 + ], + "actual_end_pos": [ + -1182.2083, + -3391.5234, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1182.2083, + -3391.5234, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1085.6157, + -3365.6415, + 200.0 + ], + "actual_end_pos": [ + -1085.6157, + -3365.6415, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1085.6157, + -3365.6415, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1059.7338, + -3462.2341, + 200.0 + ], + "actual_end_pos": [ + -1059.7338, + -3462.2341, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1059.7338, + -3462.2341, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1033.8519, + -3558.8267, + 200.0 + ], + "actual_end_pos": [ + -1033.8519, + -3558.8267, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1033.8519, + -3558.8267, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -937.2593, + -3532.9448, + 200.0 + ], + "actual_end_pos": [ + -937.2593, + -3532.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -937.2593, + -3532.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -937.2593, + -3532.9448, + 200.0 + ], + "actual_end_pos": [ + -937.2593, + -3532.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -937.2593, + -3532.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1037.2593, + -3532.9448, + 200.0 + ], + "actual_end_pos": [ + -1037.2593, + -3532.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1037.2593, + -3532.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1037.2593, + -3432.9448, + 200.0 + ], + "actual_end_pos": [ + -1037.2593, + -3432.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1037.2593, + -3432.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1137.2593, + -3432.9448, + 200.0 + ], + "actual_end_pos": [ + -1137.2593, + -3432.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1137.2593, + -3432.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1137.2593, + -3332.9448, + 200.0 + ], + "actual_end_pos": [ + -1137.2593, + -3332.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1137.2593, + -3332.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1037.2593, + -3332.9448, + 200.0 + ], + "actual_end_pos": [ + -1037.2593, + -3332.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1037.2593, + -3332.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1037.2593, + -3432.9448, + 200.0 + ], + "actual_end_pos": [ + -1037.2593, + -3432.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1037.2593, + -3432.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1037.2593, + -3432.9448, + 200.0 + ], + "actual_end_pos": [ + -1037.2593, + -3432.9448, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1037.2593, + -3432.9448, + 200.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1037.2593, + -3432.9448, + 200.0 + ], + "actual_end_pos": [ + -1037.2593, + -3432.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1037.2593, + -3432.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1137.2593, + -3432.9448, + 200.0 + ], + "actual_end_pos": [ + -1137.2593, + -3432.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1137.2593, + -3432.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1237.2593, + -3432.9448, + 200.0 + ], + "actual_end_pos": [ + -1237.2593, + -3432.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1237.2593, + -3432.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1337.2593, + -3432.9448, + 200.0 + ], + "actual_end_pos": [ + -1337.2593, + -3432.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1337.2593, + -3432.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1437.2593, + -3432.9448, + 200.0 + ], + "actual_end_pos": [ + -1437.2593, + -3432.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1437.2593, + -3432.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1537.2593, + -3432.9448, + 200.0 + ], + "actual_end_pos": [ + -1537.2593, + -3432.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1537.2593, + -3432.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1637.2593, + -3432.9448, + 200.0 + ], + "actual_end_pos": [ + -1637.2593, + -3432.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1637.2593, + -3432.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1737.2593, + -3432.9448, + 200.0 + ], + "actual_end_pos": [ + -1737.2593, + -3432.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1737.2593, + -3432.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1737.2593, + -3532.9448, + 200.0 + ], + "actual_end_pos": [ + -1737.2593, + -3532.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1737.2593, + -3532.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1737.2593, + -3632.9448, + 200.0 + ], + "actual_end_pos": [ + -1737.2593, + -3632.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1737.2593, + -3632.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1737.2593, + -3732.9448, + 200.0 + ], + "actual_end_pos": [ + -1737.2593, + -3732.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1737.2593, + -3732.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1737.2593, + -3732.9448, + 200.0 + ], + "actual_end_pos": [ + -1737.2593, + -3732.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1737.2593, + -3732.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1737.2593, + -3732.9448, + 200.0 + ], + "actual_end_pos": [ + -1737.2593, + -3732.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1737.2593, + -3732.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1737.2593, + -3732.9448, + 200.0 + ], + "actual_end_pos": [ + -1737.2593, + -3732.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1737.2593, + -3732.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1737.2593, + -3732.9448, + 200.0 + ], + "actual_end_pos": [ + -1737.2593, + -3732.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1737.2593, + -3732.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1737.2593, + -3732.9448, + 200.0 + ], + "actual_end_pos": [ + -1737.2593, + -3732.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1737.2593, + -3732.9448, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1737.2593, + -3732.9448, + 200.0 + ], + "actual_end_pos": [ + -1737.2593, + -3732.9448, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_001232_meta.json b/loop_easy/run_20260413_221314__traj_001232_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ca48d07d6b013ada2d8841fc6cd5b70fa218e958 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_001232_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1232, + "episode_id": 0, + "state_id": 922, + "sample_index": 922, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1710.0, + -2240.0, + 200.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_forward", + "look_down", + "no_op", + "no_op", + "no_op", + "move_backward", + "move_backward", + "look_up", + "move_forward", + "no_op", + "move_left", + "move_left", + "move_forward", + "move_left", + "turn_left", + "move_forward", + "move_left", + "move_left", + "move_left", + "move_forward", + "turn_right", + "move_right", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1710.0, + -2240.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1710.0, + -2240.0, + 200.0 + ], + "actual_end_pos": [ + -1710.0, + -2240.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1710.0, + -2240.0, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1735.8819, + -2143.4074, + 200.0 + ], + "actual_end_pos": [ + -1735.8819, + -2143.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1735.8819, + -2143.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1735.8819, + -2143.4074, + 200.0 + ], + "actual_end_pos": [ + -1735.8819, + -2143.4074, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1735.8819, + -2143.4074, + 200.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1735.8819, + -2143.4074, + 200.0 + ], + "actual_end_pos": [ + -1735.8819, + -2143.4074, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1735.8819, + -2143.4074, + 200.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1735.8819, + -2143.4074, + 200.0 + ], + "actual_end_pos": [ + -1735.8819, + -2143.4074, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1735.8819, + -2143.4074, + 200.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1735.8819, + -2143.4074, + 200.0 + ], + "actual_end_pos": [ + -1735.8819, + -2143.4074, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1735.8819, + -2143.4074, + 200.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1710.2214, + -2239.1736, + 213.0526 + ], + "actual_end_pos": [ + -1710.2214, + -2239.1736, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1710.2214, + -2239.1736, + 213.0526 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1684.5609, + -2334.9399, + 226.1052 + ], + "actual_end_pos": [ + -1684.5609, + -2334.9399, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1684.5609, + -2334.9399, + 226.1052 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1684.5609, + -2334.9399, + 226.1052 + ], + "actual_end_pos": [ + -1684.5609, + -2334.9399, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1684.5609, + -2334.9399, + 226.1052 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1710.4428, + -2238.3473, + 226.1052 + ], + "actual_end_pos": [ + -1710.4428, + -2238.3473, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1710.4428, + -2238.3473, + 226.1052 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1710.4428, + -2238.3473, + 226.1052 + ], + "actual_end_pos": [ + -1710.4428, + -2238.3473, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1710.4428, + -2238.3473, + 226.1052 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1613.8503, + -2212.4654, + 226.1052 + ], + "actual_end_pos": [ + -1613.8503, + -2212.4654, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1613.8503, + -2212.4654, + 226.1052 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1517.2577, + -2186.5835, + 226.1052 + ], + "actual_end_pos": [ + -1517.2577, + -2186.5835, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1517.2577, + -2186.5835, + 226.1052 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1543.1396, + -2089.9909, + 226.1052 + ], + "actual_end_pos": [ + -1543.1396, + -2089.9909, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1543.1396, + -2089.9909, + 226.1052 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1446.547, + -2064.109, + 226.1052 + ], + "actual_end_pos": [ + -1446.547, + -2064.109, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1446.547, + -2064.109, + 226.1052 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1446.547, + -2064.109, + 226.1052 + ], + "actual_end_pos": [ + -1446.547, + -2064.109, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1446.547, + -2064.109, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1446.547, + -1964.109, + 226.1052 + ], + "actual_end_pos": [ + -1446.547, + -1964.109, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1446.547, + -1964.109, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1346.547, + -1964.109, + 226.1052 + ], + "actual_end_pos": [ + -1346.547, + -1964.109, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1346.547, + -1964.109, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1246.547, + -1964.109, + 226.1052 + ], + "actual_end_pos": [ + -1246.547, + -1964.109, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1246.547, + -1964.109, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1146.547, + -1964.109, + 226.1052 + ], + "actual_end_pos": [ + -1146.547, + -1964.109, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1146.547, + -1964.109, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1146.547, + -1864.109, + 226.1052 + ], + "actual_end_pos": [ + -1146.547, + -1864.109, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1146.547, + -1864.109, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1146.547, + -1864.109, + 226.1052 + ], + "actual_end_pos": [ + -1146.547, + -1864.109, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1146.547, + -1864.109, + 226.1052 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1243.1396, + -1889.9909, + 226.1052 + ], + "actual_end_pos": [ + -1243.1396, + -1889.9909, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1243.1396, + -1889.9909, + 226.1052 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1243.1396, + -1889.9909, + 226.1052 + ], + "actual_end_pos": [ + -1243.1396, + -1889.9909, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1243.1396, + -1889.9909, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1243.1396, + -1989.9909, + 226.1052 + ], + "actual_end_pos": [ + -1243.1396, + -1989.9909, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1243.1396, + -1989.9909, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1243.1396, + -2089.9909, + 226.1052 + ], + "actual_end_pos": [ + -1243.1396, + -2089.9909, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1243.1396, + -2089.9909, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1243.1396, + -2189.9909, + 226.1052 + ], + "actual_end_pos": [ + -1243.1396, + -2189.9909, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1243.1396, + -2189.9909, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1243.1396, + -2289.9909, + 226.1052 + ], + "actual_end_pos": [ + -1243.1396, + -2289.9909, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1243.1396, + -2289.9909, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1343.1396, + -2289.9909, + 226.1052 + ], + "actual_end_pos": [ + -1343.1396, + -2289.9909, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1343.1396, + -2289.9909, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1443.1396, + -2289.9909, + 226.1052 + ], + "actual_end_pos": [ + -1443.1396, + -2289.9909, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1443.1396, + -2289.9909, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1543.1396, + -2289.9909, + 226.1052 + ], + "actual_end_pos": [ + -1543.1396, + -2289.9909, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1543.1396, + -2289.9909, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1643.1396, + -2289.9909, + 226.1052 + ], + "actual_end_pos": [ + -1643.1396, + -2289.9909, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1643.1396, + -2289.9909, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "actual_end_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "actual_end_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "actual_end_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "actual_end_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "actual_end_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "actual_end_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "actual_end_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "actual_end_pos": [ + -1743.1396, + -2289.9909, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_001248_meta.json b/loop_easy/run_20260413_221314__traj_001248_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3bee3ddb83acd9bda188875b2270f4598a8e009c --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_001248_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1248, + "episode_id": 0, + "state_id": 933, + "sample_index": 933, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1710.0, + -1740.0, + 200.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_right", + "move_right", + "move_backward", + "move_left", + "move_left", + "move_backward", + "move_left", + "move_left", + "no_op", + "move_left", + "turn_left", + "move_backward", + "turn_right", + "move_right", + "turn_left", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_right", + "move_backward", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1710.0, + -1740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1710.0, + -1740.0, + 200.0 + ], + "actual_end_pos": [ + -1710.0, + -1740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1710.0, + -1740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -1623.3975, + -1790.0, + 200.0 + ], + "actual_end_pos": [ + -1623.3975, + -1790.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1623.3975, + -1790.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -1536.7949, + -1840.0, + 200.0 + ], + "actual_end_pos": [ + -1536.7949, + -1840.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1536.7949, + -1840.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -1486.7949, + -1753.3975, + 200.0 + ], + "actual_end_pos": [ + -1486.7949, + -1753.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1486.7949, + -1753.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -1573.3975, + -1703.3975, + 200.0 + ], + "actual_end_pos": [ + -1573.3975, + -1703.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1573.3975, + -1703.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -1660.0, + -1653.3975, + 200.0 + ], + "actual_end_pos": [ + -1660.0, + -1653.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1660.0, + -1653.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -1610.0, + -1566.7949, + 200.0 + ], + "actual_end_pos": [ + -1610.0, + -1566.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1610.0, + -1566.7949, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -1696.6025, + -1516.7949, + 200.0 + ], + "actual_end_pos": [ + -1696.6025, + -1516.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1696.6025, + -1516.7949, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -1783.2051, + -1466.7949, + 200.0 + ], + "actual_end_pos": [ + -1783.2051, + -1466.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1783.2051, + -1466.7949, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -1783.2051, + -1466.7949, + 200.0 + ], + "actual_end_pos": [ + -1783.2051, + -1466.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1783.2051, + -1466.7949, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -1869.8076, + -1416.7949, + 200.0 + ], + "actual_end_pos": [ + -1869.8076, + -1416.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1869.8076, + -1416.7949, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -1869.8076, + -1416.7949, + 200.0 + ], + "actual_end_pos": [ + -1869.8076, + -1416.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1869.8076, + -1416.7949, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1799.0969, + -1346.0842, + 200.0 + ], + "actual_end_pos": [ + -1799.0969, + -1346.0842, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1799.0969, + -1346.0842, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1799.0969, + -1346.0842, + 200.0 + ], + "actual_end_pos": [ + -1799.0969, + -1346.0842, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1799.0969, + -1346.0842, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -1712.4944, + -1396.0842, + 200.0 + ], + "actual_end_pos": [ + -1712.4944, + -1396.0842, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1712.4944, + -1396.0842, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -1712.4944, + -1396.0842, + 200.0 + ], + "actual_end_pos": [ + -1712.4944, + -1396.0842, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1712.4944, + -1396.0842, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1641.7837, + -1466.7949, + 200.0 + ], + "actual_end_pos": [ + -1641.7837, + -1466.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1641.7837, + -1466.7949, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1571.073, + -1537.5056, + 200.0 + ], + "actual_end_pos": [ + -1571.073, + -1537.5056, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1571.073, + -1537.5056, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1500.3624, + -1608.2163, + 200.0 + ], + "actual_end_pos": [ + -1500.3624, + -1608.2163, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1500.3624, + -1608.2163, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1429.6517, + -1678.9269, + 200.0 + ], + "actual_end_pos": [ + -1429.6517, + -1678.9269, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1429.6517, + -1678.9269, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1429.6517, + -1678.9269, + 200.0 + ], + "actual_end_pos": [ + -1429.6517, + -1678.9269, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1429.6517, + -1678.9269, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -1429.6517, + -1678.9269, + 200.0 + ], + "actual_end_pos": [ + -1429.6517, + -1678.9269, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1429.6517, + -1678.9269, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1333.0591, + -1704.8089, + 200.0 + ], + "actual_end_pos": [ + -1333.0591, + -1704.8089, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1333.0591, + -1704.8089, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1307.1772, + -1608.2163, + 200.0 + ], + "actual_end_pos": [ + -1307.1772, + -1608.2163, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1307.1772, + -1608.2163, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1403.7698, + -1582.3344, + 200.0 + ], + "actual_end_pos": [ + -1403.7698, + -1582.3344, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1403.7698, + -1582.3344, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1500.3624, + -1556.4525, + 200.0 + ], + "actual_end_pos": [ + -1500.3624, + -1556.4525, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1500.3624, + -1556.4525, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1500.3624, + -1556.4525, + 200.0 + ], + "actual_end_pos": [ + -1500.3624, + -1556.4525, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1500.3624, + -1556.4525, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -1500.3624, + -1556.4525, + 200.0 + ], + "actual_end_pos": [ + -1500.3624, + -1556.4525, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1500.3624, + -1556.4525, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1571.073, + -1627.1631, + 200.0 + ], + "actual_end_pos": [ + -1571.073, + -1627.1631, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1571.073, + -1627.1631, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1641.7837, + -1697.8738, + 200.0 + ], + "actual_end_pos": [ + -1641.7837, + -1697.8738, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1641.7837, + -1697.8738, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "actual_end_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "actual_end_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "actual_end_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "actual_end_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "actual_end_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "actual_end_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "actual_end_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "actual_end_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "actual_end_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "actual_end_pos": [ + -1712.4944, + -1768.5845, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_001284_meta.json b/loop_easy/run_20260413_221314__traj_001284_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a8712c4ee94f607e708248b21586deafd126630f --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_001284_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1284, + "episode_id": 0, + "state_id": 960, + "sample_index": 960, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1710.0, + 1260.0, + 200.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "no_op", + "move_left", + "turn_right", + "no_op", + "move_right", + "turn_right", + "move_forward", + "no_op", + "no_op", + "move_right", + "move_forward", + "turn_right", + "look_down", + "move_right", + "move_right", + "move_forward", + "turn_left", + "move_right", + "move_forward", + "turn_left", + "turn_left", + "look_up", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1710.0, + 1260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1710.0, + 1360.0, + 200.0 + ], + "actual_end_pos": [ + -1710.0, + 1360.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1710.0, + 1360.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1710.0, + 1360.0, + 200.0 + ], + "actual_end_pos": [ + -1710.0, + 1360.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1710.0, + 1360.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1710.0, + 1260.0, + 200.0 + ], + "actual_end_pos": [ + -1710.0, + 1260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1710.0, + 1260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1710.0, + 1260.0, + 200.0 + ], + "actual_end_pos": [ + -1710.0, + 1260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1710.0, + 1260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1710.0, + 1260.0, + 200.0 + ], + "actual_end_pos": [ + -1710.0, + 1260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1710.0, + 1260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1735.8819, + 1356.5926, + 200.0 + ], + "actual_end_pos": [ + -1735.8819, + 1356.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1735.8819, + 1356.5926, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1735.8819, + 1356.5926, + 200.0 + ], + "actual_end_pos": [ + -1735.8819, + 1356.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1735.8819, + 1356.5926, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1649.2794, + 1406.5926, + 200.0 + ], + "actual_end_pos": [ + -1649.2794, + 1406.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1649.2794, + 1406.5926, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1649.2794, + 1406.5926, + 200.0 + ], + "actual_end_pos": [ + -1649.2794, + 1406.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1649.2794, + 1406.5926, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1649.2794, + 1406.5926, + 200.0 + ], + "actual_end_pos": [ + -1649.2794, + 1406.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1649.2794, + 1406.5926, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1699.2794, + 1493.1951, + 200.0 + ], + "actual_end_pos": [ + -1699.2794, + 1493.1951, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1699.2794, + 1493.1951, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1612.6768, + 1543.1951, + 200.0 + ], + "actual_end_pos": [ + -1612.6768, + 1543.1951, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1612.6768, + 1543.1951, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1612.6768, + 1543.1951, + 200.0 + ], + "actual_end_pos": [ + -1612.6768, + 1543.1951, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1612.6768, + 1543.1951, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1612.6768, + 1543.1951, + 200.0 + ], + "actual_end_pos": [ + -1612.6768, + 1543.1951, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1612.6768, + 1543.1951, + 200.0 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -1683.3875, + 1613.9058, + 200.0 + ], + "actual_end_pos": [ + -1683.3875, + 1613.9058, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1683.3875, + 1613.9058, + 200.0 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -1754.0982, + 1684.6165, + 200.0 + ], + "actual_end_pos": [ + -1754.0982, + 1684.6165, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1754.0982, + 1684.6165, + 200.0 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -1683.9924, + 1754.7222, + 186.9474 + ], + "actual_end_pos": [ + -1683.9924, + 1754.7222, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1683.9924, + 1754.7222, + 186.9474 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -1683.9924, + 1754.7222, + 186.9474 + ], + "actual_end_pos": [ + -1683.9924, + 1754.7222, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1683.9924, + 1754.7222, + 186.9474 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1733.9924, + 1841.3248, + 186.9474 + ], + "actual_end_pos": [ + -1733.9924, + 1841.3248, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1733.9924, + 1841.3248, + 186.9474 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1648.1308, + 1890.897, + 173.8948 + ], + "actual_end_pos": [ + -1648.1308, + 1890.897, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1648.1308, + 1890.897, + 173.8948 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -1648.1308, + 1890.897, + 173.8948 + ], + "actual_end_pos": [ + -1648.1308, + 1890.897, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1648.1308, + 1890.897, + 173.8948 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1648.1308, + 1890.897, + 173.8948 + ], + "actual_end_pos": [ + -1648.1308, + 1890.897, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1648.1308, + 1890.897, + 173.8948 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1648.1308, + 1890.897, + 173.8948 + ], + "actual_end_pos": [ + -1648.1308, + 1890.897, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1648.1308, + 1890.897, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1748.1308, + 1890.897, + 173.8948 + ], + "actual_end_pos": [ + -1748.1308, + 1890.897, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1748.1308, + 1890.897, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1748.1308, + 1790.897, + 173.8948 + ], + "actual_end_pos": [ + -1748.1308, + 1790.897, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1748.1308, + 1790.897, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1748.1308, + 1690.897, + 173.8948 + ], + "actual_end_pos": [ + -1748.1308, + 1690.897, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1748.1308, + 1690.897, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1748.1308, + 1590.897, + 173.8948 + ], + "actual_end_pos": [ + -1748.1308, + 1590.897, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1748.1308, + 1590.897, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1748.1308, + 1490.897, + 173.8948 + ], + "actual_end_pos": [ + -1748.1308, + 1490.897, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1748.1308, + 1490.897, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1748.1308, + 1390.897, + 173.8948 + ], + "actual_end_pos": [ + -1748.1308, + 1390.897, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1748.1308, + 1390.897, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_pos": [ + -1748.1308, + 1290.897, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_001357_meta.json b/loop_easy/run_20260413_221314__traj_001357_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7e6a85c302afeb21f5957bed47ce06065b0f5739 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_001357_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1357, + "episode_id": 0, + "state_id": 1011, + "sample_index": 1011, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1710.0, + 5760.0, + 200.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "turn_left", + "no_op", + "move_forward", + "no_op", + "no_op", + "move_left", + "no_op", + "move_forward", + "move_left", + "turn_right", + "move_forward", + "move_left", + "move_left", + "move_left", + "move_backward", + "move_backward", + "move_right", + "look_down", + "turn_left", + "move_left", + "turn_right", + "look_up", + "move_forward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1710.0, + 5760.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1639.2893, + 5689.2893, + 200.0 + ], + "actual_end_pos": [ + -1639.2893, + 5689.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1639.2893, + 5689.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1639.2893, + 5689.2893, + 200.0 + ], + "actual_end_pos": [ + -1639.2893, + 5689.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1639.2893, + 5689.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1639.2893, + 5689.2893, + 200.0 + ], + "actual_end_pos": [ + -1639.2893, + 5689.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1639.2893, + 5689.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1689.2893, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + -1689.2893, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1689.2893, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1689.2893, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + -1689.2893, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1689.2893, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1689.2893, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + -1689.2893, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1689.2893, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1602.6868, + 5825.8919, + 200.0 + ], + "actual_end_pos": [ + -1602.6868, + 5825.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1602.6868, + 5825.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1602.6868, + 5825.8919, + 200.0 + ], + "actual_end_pos": [ + -1602.6868, + 5825.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1602.6868, + 5825.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1652.6868, + 5912.4944, + 200.0 + ], + "actual_end_pos": [ + -1652.6868, + 5912.4944, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1652.6868, + 5912.4944, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1566.0842, + 5962.4944, + 200.0 + ], + "actual_end_pos": [ + -1566.0842, + 5962.4944, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1566.0842, + 5962.4944, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1566.0842, + 5962.4944, + 200.0 + ], + "actual_end_pos": [ + -1566.0842, + 5962.4944, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1566.0842, + 5962.4944, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1636.7949, + 6033.2051, + 200.0 + ], + "actual_end_pos": [ + -1636.7949, + 6033.2051, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1636.7949, + 6033.2051, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1566.0842, + 6103.9158, + 200.0 + ], + "actual_end_pos": [ + -1566.0842, + 6103.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1566.0842, + 6103.9158, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1495.3736, + 6174.6264, + 200.0 + ], + "actual_end_pos": [ + -1495.3736, + 6174.6264, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1495.3736, + 6174.6264, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1424.6629, + 6245.3371, + 200.0 + ], + "actual_end_pos": [ + -1424.6629, + 6245.3371, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1424.6629, + 6245.3371, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1353.9522, + 6174.6264, + 200.0 + ], + "actual_end_pos": [ + -1353.9522, + 6174.6264, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1353.9522, + 6174.6264, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1283.2415, + 6103.9158, + 200.0 + ], + "actual_end_pos": [ + -1283.2415, + 6103.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1283.2415, + 6103.9158, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1353.9522, + 6033.2051, + 200.0 + ], + "actual_end_pos": [ + -1353.9522, + 6033.2051, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1353.9522, + 6033.2051, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1353.9522, + 6033.2051, + 200.0 + ], + "actual_end_pos": [ + -1353.9522, + 6033.2051, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1353.9522, + 6033.2051, + 200.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1353.9522, + 6033.2051, + 200.0 + ], + "actual_end_pos": [ + -1353.9522, + 6033.2051, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1353.9522, + 6033.2051, + 200.0 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1267.3497, + 6083.2051, + 200.0 + ], + "actual_end_pos": [ + -1267.3497, + 6083.2051, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1267.3497, + 6083.2051, + 200.0 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1267.3497, + 6083.2051, + 200.0 + ], + "actual_end_pos": [ + -1267.3497, + 6083.2051, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1267.3497, + 6083.2051, + 200.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1267.3497, + 6083.2051, + 200.0 + ], + "actual_end_pos": [ + -1267.3497, + 6083.2051, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1267.3497, + 6083.2051, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1338.0603, + 6153.9158, + 200.0 + ], + "actual_end_pos": [ + -1338.0603, + 6153.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1338.0603, + 6153.9158, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1408.771, + 6083.2051, + 200.0 + ], + "actual_end_pos": [ + -1408.771, + 6083.2051, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1408.771, + 6083.2051, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1479.4817, + 6012.4944, + 200.0 + ], + "actual_end_pos": [ + -1479.4817, + 6012.4944, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1479.4817, + 6012.4944, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1550.1924, + 5941.7837, + 200.0 + ], + "actual_end_pos": [ + -1550.1924, + 5941.7837, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1550.1924, + 5941.7837, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1620.9031, + 5871.073, + 200.0 + ], + "actual_end_pos": [ + -1620.9031, + 5871.073, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1620.9031, + 5871.073, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_pos": [ + -1691.6137, + 5800.3624, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_001477_meta.json b/loop_easy/run_20260413_221314__traj_001477_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bd9ed39c313251b914f5edd6ba1a3a09e816d700 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_001477_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1477, + "episode_id": 0, + "state_id": 1104, + "sample_index": 1104, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1210.0, + 2260.0, + 200.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_left", + "look_down", + "move_right", + "move_forward", + "turn_right", + "move_forward", + "no_op", + "look_up", + "move_right", + "move_right", + "turn_left", + "move_backward", + "look_down", + "move_left", + "look_up", + "move_backward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1210.0, + 2260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1110.0, + 2260.0, + 200.0 + ], + "actual_end_pos": [ + -1110.0, + 2260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1110.0, + 2260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1110.0, + 2160.0, + 200.0 + ], + "actual_end_pos": [ + -1110.0, + 2160.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1110.0, + 2160.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1110.0, + 2160.0, + 200.0 + ], + "actual_end_pos": [ + -1110.0, + 2160.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1110.0, + 2160.0, + 200.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1110.0, + 2260.0, + 200.0 + ], + "actual_end_pos": [ + -1110.0, + 2260.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1110.0, + 2260.0, + 200.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1010.8555, + 2260.0, + 186.9474 + ], + "actual_end_pos": [ + -1010.8555, + 2260.0, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1010.8555, + 2260.0, + 186.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1010.8555, + 2260.0, + 186.9474 + ], + "actual_end_pos": [ + -1010.8555, + 2260.0, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1010.8555, + 2260.0, + 186.9474 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -915.0893, + 2285.6605, + 173.8948 + ], + "actual_end_pos": [ + -915.0893, + 2285.6605, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -915.0893, + 2285.6605, + 173.8948 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -915.0893, + 2285.6605, + 173.8948 + ], + "actual_end_pos": [ + -915.0893, + 2285.6605, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -915.0893, + 2285.6605, + 173.8948 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -915.0893, + 2285.6605, + 173.8948 + ], + "actual_end_pos": [ + -915.0893, + 2285.6605, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -915.0893, + 2285.6605, + 173.8948 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -940.9712, + 2382.2531, + 173.8948 + ], + "actual_end_pos": [ + -940.9712, + 2382.2531, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -940.9712, + 2382.2531, + 173.8948 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -966.8531, + 2478.8456, + 173.8948 + ], + "actual_end_pos": [ + -966.8531, + 2478.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -966.8531, + 2478.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -966.8531, + 2478.8456, + 173.8948 + ], + "actual_end_pos": [ + -966.8531, + 2478.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -966.8531, + 2478.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -1066.8531, + 2478.8456, + 173.8948 + ], + "actual_end_pos": [ + -1066.8531, + 2478.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1066.8531, + 2478.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -1066.8531, + 2478.8456, + 173.8948 + ], + "actual_end_pos": [ + -1066.8531, + 2478.8456, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1066.8531, + 2478.8456, + 173.8948 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1066.8531, + 2378.8456, + 173.8948 + ], + "actual_end_pos": [ + -1066.8531, + 2378.8456, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1066.8531, + 2378.8456, + 173.8948 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1066.8531, + 2378.8456, + 173.8948 + ], + "actual_end_pos": [ + -1066.8531, + 2378.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1066.8531, + 2378.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2378.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2378.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1166.8531, + 2378.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_pos": [ + -1166.8531, + 2278.8456, + 173.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_002046_meta.json b/loop_easy/run_20260413_221314__traj_002046_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e04b8f46d75da70d31c48c6766402bd798be4ef --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_002046_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2046, + "episode_id": 0, + "state_id": 1522, + "sample_index": 1522, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 290.0, + 5260.0, + 200.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_right", + "move_forward", + "move_forward", + "turn_right", + "move_right", + "turn_left", + "move_forward", + "turn_right", + "move_left", + "turn_right", + "move_left", + "move_backward", + "no_op", + "turn_right", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 290.0, + 5260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 290.0, + 5260.0, + 200.0 + ], + "actual_end_pos": [ + 290.0, + 5260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 290.0, + 5260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 193.4074, + 5285.8819, + 200.0 + ], + "actual_end_pos": [ + 193.4074, + 5285.8819, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 193.4074, + 5285.8819, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 219.2893, + 5382.4745, + 200.0 + ], + "actual_end_pos": [ + 219.2893, + 5382.4745, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 219.2893, + 5382.4745, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 245.1712, + 5479.0671, + 200.0 + ], + "actual_end_pos": [ + 245.1712, + 5479.0671, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 245.1712, + 5479.0671, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 245.1712, + 5479.0671, + 200.0 + ], + "actual_end_pos": [ + 245.1712, + 5479.0671, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 245.1712, + 5479.0671, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 145.1712, + 5479.0671, + 200.0 + ], + "actual_end_pos": [ + 145.1712, + 5479.0671, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 145.1712, + 5479.0671, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 145.1712, + 5479.0671, + 200.0 + ], + "actual_end_pos": [ + 145.1712, + 5479.0671, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 145.1712, + 5479.0671, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 171.0531, + 5575.6597, + 200.0 + ], + "actual_end_pos": [ + 171.0531, + 5575.6597, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 171.0531, + 5575.6597, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 171.0531, + 5575.6597, + 200.0 + ], + "actual_end_pos": [ + 171.0531, + 5575.6597, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 171.0531, + 5575.6597, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 271.0531, + 5575.6597, + 200.0 + ], + "actual_end_pos": [ + 271.0531, + 5575.6597, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 271.0531, + 5575.6597, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 271.0531, + 5575.6597, + 200.0 + ], + "actual_end_pos": [ + 271.0531, + 5575.6597, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 271.0531, + 5575.6597, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 367.6457, + 5601.5416, + 200.0 + ], + "actual_end_pos": [ + 367.6457, + 5601.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 367.6457, + 5601.5416, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 393.5276, + 5504.949, + 200.0 + ], + "actual_end_pos": [ + 393.5276, + 5504.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 393.5276, + 5504.949, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 393.5276, + 5504.949, + 200.0 + ], + "actual_end_pos": [ + 393.5276, + 5504.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 393.5276, + 5504.949, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 393.5276, + 5504.949, + 200.0 + ], + "actual_end_pos": [ + 393.5276, + 5504.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 393.5276, + 5504.949, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 393.5276, + 5504.949, + 200.0 + ], + "actual_end_pos": [ + 393.5276, + 5504.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 393.5276, + 5504.949, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 393.5276, + 5504.949, + 200.0 + ], + "actual_end_pos": [ + 393.5276, + 5504.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 393.5276, + 5504.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 393.5276, + 5404.949, + 200.0 + ], + "actual_end_pos": [ + 393.5276, + 5404.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 393.5276, + 5404.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 393.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 393.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 393.5276, + 5304.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_pos": [ + 293.5276, + 5304.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_002066_meta.json b/loop_easy/run_20260413_221314__traj_002066_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4c82a6adeaaca432eb47c65488b428907871909d --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_002066_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2066, + "episode_id": 0, + "state_id": 1538, + "sample_index": 1538, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 290.0, + 6260.0, + 200.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_right", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "move_forward", + "move_left", + "turn_right", + "move_right", + "move_right", + "move_forward", + "move_left", + "move_left", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "look_up", + "turn_right", + "move_right", + "no_op", + "move_right", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 290.0, + 6260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 290.0, + 6360.0, + 200.0 + ], + "actual_end_pos": [ + 290.0, + 6360.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 290.0, + 6360.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 190.0, + 6360.0, + 200.0 + ], + "actual_end_pos": [ + 190.0, + 6360.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 190.0, + 6360.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 190.0, + 6360.0, + 200.0 + ], + "actual_end_pos": [ + 190.0, + 6360.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 190.0, + 6360.0, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 190.0, + 6360.0, + 200.0 + ], + "actual_end_pos": [ + 190.0, + 6360.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 190.0, + 6360.0, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 140.0, + 6446.6025, + 200.0 + ], + "actual_end_pos": [ + 140.0, + 6446.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 140.0, + 6446.6025, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 140.0, + 6446.6025, + 200.0 + ], + "actual_end_pos": [ + 140.0, + 6446.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 140.0, + 6446.6025, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 69.2893, + 6517.3132, + 200.0 + ], + "actual_end_pos": [ + 69.2893, + 6517.3132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 69.2893, + 6517.3132, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 140.0, + 6588.0239, + 200.0 + ], + "actual_end_pos": [ + 140.0, + 6588.0239, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 140.0, + 6588.0239, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 140.0, + 6588.0239, + 200.0 + ], + "actual_end_pos": [ + 140.0, + 6588.0239, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 140.0, + 6588.0239, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 90.0, + 6501.4214, + 200.0 + ], + "actual_end_pos": [ + 90.0, + 6501.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 90.0, + 6501.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 40.0, + 6414.8188, + 200.0 + ], + "actual_end_pos": [ + 40.0, + 6414.8188, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 40.0, + 6414.8188, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -46.6025, + 6464.8188, + 200.0 + ], + "actual_end_pos": [ + -46.6025, + 6464.8188, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -46.6025, + 6464.8188, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3.3975, + 6551.4214, + 200.0 + ], + "actual_end_pos": [ + 3.3975, + 6551.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3.3975, + 6551.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 53.3975, + 6638.0239, + 200.0 + ], + "actual_end_pos": [ + 53.3975, + 6638.0239, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 53.3975, + 6638.0239, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 103.3975, + 6724.6264, + 200.0 + ], + "actual_end_pos": [ + 103.3975, + 6724.6264, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 103.3975, + 6724.6264, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 16.7949, + 6774.6264, + 200.0 + ], + "actual_end_pos": [ + 16.7949, + 6774.6264, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 16.7949, + 6774.6264, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -69.8076, + 6824.6264, + 200.0 + ], + "actual_end_pos": [ + -69.8076, + 6824.6264, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -69.8076, + 6824.6264, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -156.4102, + 6874.6264, + 200.0 + ], + "actual_end_pos": [ + -156.4102, + 6874.6264, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -156.4102, + 6874.6264, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -156.4102, + 6874.6264, + 200.0 + ], + "actual_end_pos": [ + -156.4102, + 6874.6264, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -156.4102, + 6874.6264, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -156.4102, + 6874.6264, + 200.0 + ], + "actual_end_pos": [ + -156.4102, + 6874.6264, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -156.4102, + 6874.6264, + 200.0 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -156.4102, + 6874.6264, + 200.0 + ], + "actual_end_pos": [ + -156.4102, + 6874.6264, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -156.4102, + 6874.6264, + 200.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -156.4102, + 6774.6264, + 200.0 + ], + "actual_end_pos": [ + -156.4102, + 6774.6264, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -156.4102, + 6774.6264, + 200.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -156.4102, + 6774.6264, + 200.0 + ], + "actual_end_pos": [ + -156.4102, + 6774.6264, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -156.4102, + 6774.6264, + 200.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -156.4102, + 6674.6264, + 200.0 + ], + "actual_end_pos": [ + -156.4102, + 6674.6264, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -156.4102, + 6674.6264, + 200.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "actual_end_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "actual_end_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "actual_end_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "actual_end_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "actual_end_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "actual_end_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "actual_end_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "actual_end_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -57.2657, + 6674.6264, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -57.2657, + 6574.6264, + 186.9474 + ], + "actual_end_pos": [ + -57.2657, + 6574.6264, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -57.2657, + 6574.6264, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -57.2657, + 6474.6264, + 186.9474 + ], + "actual_end_pos": [ + -57.2657, + 6474.6264, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -57.2657, + 6474.6264, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -57.2657, + 6374.6264, + 186.9474 + ], + "actual_end_pos": [ + -57.2657, + 6374.6264, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -57.2657, + 6374.6264, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -57.2657, + 6274.6264, + 186.9474 + ], + "actual_end_pos": [ + -57.2657, + 6274.6264, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -57.2657, + 6274.6264, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 42.7343, + 6274.6264, + 186.9474 + ], + "actual_end_pos": [ + 42.7343, + 6274.6264, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 42.7343, + 6274.6264, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 142.7343, + 6274.6264, + 186.9474 + ], + "actual_end_pos": [ + 142.7343, + 6274.6264, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 142.7343, + 6274.6264, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 242.7343, + 6274.6264, + 186.9474 + ], + "actual_end_pos": [ + 242.7343, + 6274.6264, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 242.7343, + 6274.6264, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 242.7343, + 6274.6264, + 186.9474 + ], + "actual_end_pos": [ + 242.7343, + 6274.6264, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_002130_meta.json b/loop_easy/run_20260413_221314__traj_002130_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4f94b2e9aa10c3036fbfaa5ef8a83c0d404f5138 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_002130_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2130, + "episode_id": 0, + "state_id": 1581, + "sample_index": 1581, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 790.0, + -1740.0, + 200.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_backward", + "no_op", + "look_up", + "move_forward", + "turn_left", + "move_left", + "move_backward", + "move_left", + "look_up", + "move_right", + "look_down", + "look_down", + "no_op", + "move_backward", + "move_backward", + "move_right", + "turn_left", + "move_left", + "move_forward", + "look_up", + "turn_right", + "turn_right", + "look_down", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 790.0, + -1740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 719.2893, + -1669.2893, + 200.0 + ], + "actual_end_pos": [ + 719.2893, + -1669.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 719.2893, + -1669.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 790.0, + -1598.5786, + 200.0 + ], + "actual_end_pos": [ + 790.0, + -1598.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 790.0, + -1598.5786, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 790.0, + -1598.5786, + 200.0 + ], + "actual_end_pos": [ + 790.0, + -1598.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 790.0, + -1598.5786, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 790.0, + -1598.5786, + 200.0 + ], + "actual_end_pos": [ + 790.0, + -1598.5786, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 790.0, + -1598.5786, + 200.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 719.8943, + -1668.6844, + 213.0526 + ], + "actual_end_pos": [ + 719.8943, + -1668.6844, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 719.8943, + -1668.6844, + 213.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 719.8943, + -1668.6844, + 213.0526 + ], + "actual_end_pos": [ + 719.8943, + -1668.6844, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 719.8943, + -1668.6844, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 669.8943, + -1582.0818, + 213.0526 + ], + "actual_end_pos": [ + 669.8943, + -1582.0818, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 669.8943, + -1582.0818, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 755.7559, + -1532.5096, + 200.0 + ], + "actual_end_pos": [ + 755.7559, + -1532.5096, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 755.7559, + -1532.5096, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 705.7559, + -1445.9071, + 200.0 + ], + "actual_end_pos": [ + 705.7559, + -1445.9071, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 705.7559, + -1445.9071, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 705.7559, + -1445.9071, + 200.0 + ], + "actual_end_pos": [ + 705.7559, + -1445.9071, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 705.7559, + -1445.9071, + 200.0 + ], + "start_rot": [ + 15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 755.7559, + -1532.5096, + 200.0 + ], + "actual_end_pos": [ + 755.7559, + -1532.5096, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 755.7559, + -1532.5096, + 200.0 + ], + "start_rot": [ + 15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 755.7559, + -1532.5096, + 200.0 + ], + "actual_end_pos": [ + 755.7559, + -1532.5096, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 755.7559, + -1532.5096, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 755.7559, + -1532.5096, + 200.0 + ], + "actual_end_pos": [ + 755.7559, + -1532.5096, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 755.7559, + -1532.5096, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 755.7559, + -1532.5096, + 200.0 + ], + "actual_end_pos": [ + 755.7559, + -1532.5096, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 755.7559, + -1532.5096, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 842.3584, + -1482.5096, + 200.0 + ], + "actual_end_pos": [ + 842.3584, + -1482.5096, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 842.3584, + -1482.5096, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 928.961, + -1432.5096, + 200.0 + ], + "actual_end_pos": [ + 928.961, + -1432.5096, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 928.961, + -1432.5096, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 978.961, + -1519.1121, + 200.0 + ], + "actual_end_pos": [ + 978.961, + -1519.1121, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 978.961, + -1519.1121, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 978.961, + -1519.1121, + 200.0 + ], + "actual_end_pos": [ + 978.961, + -1519.1121, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 978.961, + -1519.1121, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 953.0791, + -1422.5196, + 200.0 + ], + "actual_end_pos": [ + 953.0791, + -1422.5196, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 953.0791, + -1422.5196, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 856.4865, + -1448.4015, + 200.0 + ], + "actual_end_pos": [ + 856.4865, + -1448.4015, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 856.4865, + -1448.4015, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 856.4865, + -1448.4015, + 200.0 + ], + "actual_end_pos": [ + 856.4865, + -1448.4015, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 856.4865, + -1448.4015, + 200.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 856.4865, + -1448.4015, + 200.0 + ], + "actual_end_pos": [ + 856.4865, + -1448.4015, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 856.4865, + -1448.4015, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 856.4865, + -1448.4015, + 200.0 + ], + "actual_end_pos": [ + 856.4865, + -1448.4015, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 856.4865, + -1448.4015, + 200.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 856.4865, + -1448.4015, + 200.0 + ], + "actual_end_pos": [ + 856.4865, + -1448.4015, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 856.4865, + -1448.4015, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 785.7758, + -1519.1121, + 200.0 + ], + "actual_end_pos": [ + 785.7758, + -1519.1121, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 785.7758, + -1519.1121, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 715.0651, + -1589.8228, + 200.0 + ], + "actual_end_pos": [ + 715.0651, + -1589.8228, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 715.0651, + -1589.8228, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 644.3545, + -1660.5335, + 200.0 + ], + "actual_end_pos": [ + 644.3545, + -1660.5335, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 644.3545, + -1660.5335, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 715.0651, + -1731.2442, + 200.0 + ], + "actual_end_pos": [ + 715.0651, + -1731.2442, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 715.0651, + -1731.2442, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_pos": [ + 785.7758, + -1801.9549, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_002179_meta.json b/loop_easy/run_20260413_221314__traj_002179_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb6ca2096556ec89ec8a8bfe5f39b289184ec65e --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_002179_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2179, + "episode_id": 0, + "state_id": 1617, + "sample_index": 1617, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 790.0, + 3260.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_right", + "no_op", + "move_left", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "move_left", + "move_forward", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "look_down", + "move_left", + "look_up", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 790.0, + 3260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 719.2893, + 3189.2893, + 200.0 + ], + "actual_end_pos": [ + 719.2893, + 3189.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 719.2893, + 3189.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 648.5786, + 3260.0, + 200.0 + ], + "actual_end_pos": [ + 648.5786, + 3260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 648.5786, + 3260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 648.5786, + 3260.0, + 200.0 + ], + "actual_end_pos": [ + 648.5786, + 3260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 648.5786, + 3260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 719.2893, + 3189.2893, + 200.0 + ], + "actual_end_pos": [ + 719.2893, + 3189.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 719.2893, + 3189.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 719.2893, + 3189.2893, + 200.0 + ], + "actual_end_pos": [ + 719.2893, + 3189.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 719.2893, + 3189.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 769.2893, + 3275.8919, + 200.0 + ], + "actual_end_pos": [ + 769.2893, + 3275.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 769.2893, + 3275.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 819.2893, + 3362.4944, + 200.0 + ], + "actual_end_pos": [ + 819.2893, + 3362.4944, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 819.2893, + 3362.4944, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 869.2893, + 3449.0969, + 200.0 + ], + "actual_end_pos": [ + 869.2893, + 3449.0969, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 869.2893, + 3449.0969, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 955.8919, + 3399.0969, + 200.0 + ], + "actual_end_pos": [ + 955.8919, + 3399.0969, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 955.8919, + 3399.0969, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 1005.8919, + 3485.6995, + 200.0 + ], + "actual_end_pos": [ + 1005.8919, + 3485.6995, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1005.8919, + 3485.6995, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 1092.4944, + 3435.6995, + 200.0 + ], + "actual_end_pos": [ + 1092.4944, + 3435.6995, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1092.4944, + 3435.6995, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 1142.4944, + 3522.302, + 200.0 + ], + "actual_end_pos": [ + 1142.4944, + 3522.302, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1142.4944, + 3522.302, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 1142.4944, + 3522.302, + 200.0 + ], + "actual_end_pos": [ + 1142.4944, + 3522.302, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1142.4944, + 3522.302, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 1168.3763, + 3618.8946, + 200.0 + ], + "actual_end_pos": [ + 1168.3763, + 3618.8946, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1168.3763, + 3618.8946, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 1194.2582, + 3715.4872, + 200.0 + ], + "actual_end_pos": [ + 1194.2582, + 3715.4872, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1194.2582, + 3715.4872, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 1194.2582, + 3715.4872, + 200.0 + ], + "actual_end_pos": [ + 1194.2582, + 3715.4872, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1194.2582, + 3715.4872, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1194.2582, + 3715.4872, + 200.0 + ], + "actual_end_pos": [ + 1194.2582, + 3715.4872, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1194.2582, + 3715.4872, + 200.0 + ], + "start_rot": [ + -7.5, + 90.0, + -0.0 + ], + "expected_end_pos": [ + 1294.2582, + 3715.4872, + 200.0 + ], + "actual_end_pos": [ + 1294.2582, + 3715.4872, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1294.2582, + 3715.4872, + 200.0 + ], + "start_rot": [ + -7.5, + 90.0, + -0.0 + ], + "expected_end_pos": [ + 1294.2582, + 3715.4872, + 200.0 + ], + "actual_end_pos": [ + 1294.2582, + 3715.4872, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1294.2582, + 3715.4872, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + -0.0 + ], + "expected_end_pos": [ + 1294.2582, + 3715.4872, + 200.0 + ], + "actual_end_pos": [ + 1294.2582, + 3715.4872, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1294.2582, + 3715.4872, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2582, + 3715.4872, + 200.0 + ], + "actual_end_pos": [ + 1294.2582, + 3715.4872, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1294.2582, + 3715.4872, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 1294.2582, + 3715.4872, + 200.0 + ], + "actual_end_pos": [ + 1294.2582, + 3715.4872, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1294.2582, + 3715.4872, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1223.5475, + 3644.7765, + 200.0 + ], + "actual_end_pos": [ + 1223.5475, + 3644.7765, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1223.5475, + 3644.7765, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1152.8369, + 3574.0658, + 200.0 + ], + "actual_end_pos": [ + 1152.8369, + 3574.0658, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1152.8369, + 3574.0658, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1082.1262, + 3503.3552, + 200.0 + ], + "actual_end_pos": [ + 1082.1262, + 3503.3552, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1082.1262, + 3503.3552, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1011.4155, + 3432.6445, + 200.0 + ], + "actual_end_pos": [ + 1011.4155, + 3432.6445, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1011.4155, + 3432.6445, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 940.7048, + 3361.9338, + 200.0 + ], + "actual_end_pos": [ + 940.7048, + 3361.9338, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 940.7048, + 3361.9338, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 869.9941, + 3291.2231, + 200.0 + ], + "actual_end_pos": [ + 869.9941, + 3291.2231, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 869.9941, + 3291.2231, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_pos": [ + 799.2835, + 3220.5124, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_002262_meta.json b/loop_easy/run_20260413_221314__traj_002262_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2c5f821b952ec5aa77100eab13864db9fddee974 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_002262_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2262, + "episode_id": 0, + "state_id": 1686, + "sample_index": 1686, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1290.0, + -2740.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "look_down", + "move_right", + "look_up", + "move_backward", + "no_op", + "move_left", + "move_forward", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1290.0, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1190.0, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + 1190.0, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1190.0, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1190.0, + -2840.0, + 200.0 + ], + "actual_end_pos": [ + 1190.0, + -2840.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1190.0, + -2840.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1190.0, + -2940.0, + 200.0 + ], + "actual_end_pos": [ + 1190.0, + -2940.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1190.0, + -2940.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1190.0, + -3040.0, + 200.0 + ], + "actual_end_pos": [ + 1190.0, + -3040.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1190.0, + -3040.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1190.0, + -3140.0, + 200.0 + ], + "actual_end_pos": [ + 1190.0, + -3140.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1190.0, + -3140.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1190.0, + -3140.0, + 200.0 + ], + "actual_end_pos": [ + 1190.0, + -3140.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1190.0, + -3140.0, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1190.0, + -3140.0, + 200.0 + ], + "actual_end_pos": [ + 1190.0, + -3140.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1190.0, + -3140.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1190.0, + -3140.0, + 200.0 + ], + "actual_end_pos": [ + 1190.0, + -3140.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1190.0, + -3140.0, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1276.6025, + -3190.0, + 200.0 + ], + "actual_end_pos": [ + 1276.6025, + -3190.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1276.6025, + -3190.0, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1276.6025, + -3190.0, + 200.0 + ], + "actual_end_pos": [ + 1276.6025, + -3190.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1276.6025, + -3190.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1326.6025, + -3103.3975, + 200.0 + ], + "actual_end_pos": [ + 1326.6025, + -3103.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1326.6025, + -3103.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1326.6025, + -3103.3975, + 200.0 + ], + "actual_end_pos": [ + 1326.6025, + -3103.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1326.6025, + -3103.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1240.0, + -3053.3975, + 200.0 + ], + "actual_end_pos": [ + 1240.0, + -3053.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1240.0, + -3053.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1190.0, + -3140.0, + 200.0 + ], + "actual_end_pos": [ + 1190.0, + -3140.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1190.0, + -3140.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1276.6025, + -3190.0, + 200.0 + ], + "actual_end_pos": [ + 1276.6025, + -3190.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1276.6025, + -3190.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1363.2051, + -3240.0, + 200.0 + ], + "actual_end_pos": [ + 1363.2051, + -3240.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1363.2051, + -3240.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1363.2051, + -3240.0, + 200.0 + ], + "actual_end_pos": [ + 1363.2051, + -3240.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1363.2051, + -3240.0, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1363.2051, + -3240.0, + 200.0 + ], + "actual_end_pos": [ + 1363.2051, + -3240.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1363.2051, + -3240.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1363.2051, + -3140.0, + 200.0 + ], + "actual_end_pos": [ + 1363.2051, + -3140.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1363.2051, + -3140.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1363.2051, + -3040.0, + 200.0 + ], + "actual_end_pos": [ + 1363.2051, + -3040.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1363.2051, + -3040.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1363.2051, + -2940.0, + 200.0 + ], + "actual_end_pos": [ + 1363.2051, + -2940.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1363.2051, + -2940.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1363.2051, + -2840.0, + 200.0 + ], + "actual_end_pos": [ + 1363.2051, + -2840.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1363.2051, + -2840.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1363.2051, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + 1363.2051, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1363.2051, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + 1263.2051, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_002333_meta.json b/loop_easy/run_20260413_221314__traj_002333_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9bcedaadae58276d368cd978e6b93b35b2bdd03d --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_002333_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2333, + "episode_id": 0, + "state_id": 1742, + "sample_index": 1742, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1290.0, + 2260.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "look_up", + "turn_right", + "move_right", + "move_right", + "no_op", + "move_left", + "look_down", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_forward", + "move_forward", + "look_up", + "move_right", + "turn_left", + "move_left", + "move_forward", + "no_op", + "no_op", + "turn_left", + "turn_left", + "turn_left", + "look_down", + "move_backward", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1290.0, + 2260.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1190.0, + 2260.0, + 200.0 + ], + "actual_end_pos": [ + 1190.0, + 2260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1190.0, + 2260.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1190.0, + 2260.0, + 200.0 + ], + "actual_end_pos": [ + 1190.0, + 2260.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1190.0, + 2260.0, + 200.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1190.0, + 2260.0, + 200.0 + ], + "actual_end_pos": [ + 1190.0, + 2260.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1190.0, + 2260.0, + 200.0 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 1286.5926, + 2285.8819, + 200.0 + ], + "actual_end_pos": [ + 1286.5926, + 2285.8819, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1286.5926, + 2285.8819, + 200.0 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 1383.1852, + 2311.7638, + 200.0 + ], + "actual_end_pos": [ + 1383.1852, + 2311.7638, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1383.1852, + 2311.7638, + 200.0 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 1383.1852, + 2311.7638, + 200.0 + ], + "actual_end_pos": [ + 1383.1852, + 2311.7638, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1383.1852, + 2311.7638, + 200.0 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 1286.5926, + 2285.8819, + 200.0 + ], + "actual_end_pos": [ + 1286.5926, + 2285.8819, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1286.5926, + 2285.8819, + 200.0 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 1286.5926, + 2285.8819, + 200.0 + ], + "actual_end_pos": [ + 1286.5926, + 2285.8819, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1286.5926, + 2285.8819, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 1190.0, + 2260.0, + 200.0 + ], + "actual_end_pos": [ + 1190.0, + 2260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1190.0, + 2260.0, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 1190.0, + 2260.0, + 200.0 + ], + "actual_end_pos": [ + 1190.0, + 2260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1190.0, + 2260.0, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 1190.0, + 2260.0, + 200.0 + ], + "actual_end_pos": [ + 1190.0, + 2260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1190.0, + 2260.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 1190.0, + 2260.0, + 200.0 + ], + "actual_end_pos": [ + 1190.0, + 2260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1190.0, + 2260.0, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 1240.0, + 2346.6025, + 200.0 + ], + "actual_end_pos": [ + 1240.0, + 2346.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1240.0, + 2346.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 1326.6025, + 2296.6025, + 200.0 + ], + "actual_end_pos": [ + 1326.6025, + 2296.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1326.6025, + 2296.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 1413.2051, + 2246.6025, + 200.0 + ], + "actual_end_pos": [ + 1413.2051, + 2246.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1413.2051, + 2246.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 1413.2051, + 2246.6025, + 200.0 + ], + "actual_end_pos": [ + 1413.2051, + 2246.6025, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1413.2051, + 2246.6025, + 200.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 1463.2051, + 2333.2051, + 200.0 + ], + "actual_end_pos": [ + 1463.2051, + 2333.2051, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1463.2051, + 2333.2051, + 200.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 1463.2051, + 2333.2051, + 200.0 + ], + "actual_end_pos": [ + 1463.2051, + 2333.2051, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1463.2051, + 2333.2051, + 200.0 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 1392.4944, + 2262.4944, + 200.0 + ], + "actual_end_pos": [ + 1392.4944, + 2262.4944, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1392.4944, + 2262.4944, + 200.0 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 1462.6001, + 2192.3887, + 213.0526 + ], + "actual_end_pos": [ + 1462.6001, + 2192.3887, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1462.6001, + 2192.3887, + 213.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 1462.6001, + 2192.3887, + 213.0526 + ], + "actual_end_pos": [ + 1462.6001, + 2192.3887, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1462.6001, + 2192.3887, + 213.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 1462.6001, + 2192.3887, + 213.0526 + ], + "actual_end_pos": [ + 1462.6001, + 2192.3887, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1462.6001, + 2192.3887, + 213.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 1462.6001, + 2192.3887, + 213.0526 + ], + "actual_end_pos": [ + 1462.6001, + 2192.3887, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1462.6001, + 2192.3887, + 213.0526 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 1462.6001, + 2192.3887, + 213.0526 + ], + "actual_end_pos": [ + 1462.6001, + 2192.3887, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1462.6001, + 2192.3887, + 213.0526 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 1462.6001, + 2192.3887, + 213.0526 + ], + "actual_end_pos": [ + 1462.6001, + 2192.3887, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1462.6001, + 2192.3887, + 213.0526 + ], + "start_rot": [ + 7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 1462.6001, + 2192.3887, + 213.0526 + ], + "actual_end_pos": [ + 1462.6001, + 2192.3887, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1462.6001, + 2192.3887, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1462.6001, + 2292.3887, + 213.0526 + ], + "actual_end_pos": [ + 1462.6001, + 2292.3887, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1462.6001, + 2292.3887, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1362.6001, + 2292.3887, + 213.0526 + ], + "actual_end_pos": [ + 1362.6001, + 2292.3887, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1362.6001, + 2292.3887, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_pos": [ + 1262.6001, + 2292.3887, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_002379_meta.json b/loop_easy/run_20260413_221314__traj_002379_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8248db7ad5008a7666c8eaefd1d6b968dec8128e --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_002379_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2379, + "episode_id": 0, + "state_id": 1778, + "sample_index": 1778, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1290.0, + 6260.0, + 200.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "move_right", + "move_right", + "move_right", + "move_backward", + "turn_left", + "move_forward", + "no_op", + "turn_left", + "move_forward", + "look_down", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "move_backward", + "look_up", + "turn_left", + "move_forward", + "turn_right", + "move_forward", + "look_down", + "move_forward", + "move_left", + "turn_left", + "move_backward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "look_up", + "move_backward", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1290.0, + 6260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1290.0, + 6260.0, + 200.0 + ], + "actual_end_pos": [ + 1290.0, + 6260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1290.0, + 6260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1190.0, + 6260.0, + 200.0 + ], + "actual_end_pos": [ + 1190.0, + 6260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1190.0, + 6260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1090.0, + 6260.0, + 200.0 + ], + "actual_end_pos": [ + 1090.0, + 6260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1090.0, + 6260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 990.0, + 6260.0, + 200.0 + ], + "actual_end_pos": [ + 990.0, + 6260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 990.0, + 6260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 990.0, + 6160.0, + 200.0 + ], + "actual_end_pos": [ + 990.0, + 6160.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 990.0, + 6160.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 990.0, + 6160.0, + 200.0 + ], + "actual_end_pos": [ + 990.0, + 6160.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 990.0, + 6160.0, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 1015.8819, + 6256.5926, + 200.0 + ], + "actual_end_pos": [ + 1015.8819, + 6256.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1015.8819, + 6256.5926, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 1015.8819, + 6256.5926, + 200.0 + ], + "actual_end_pos": [ + 1015.8819, + 6256.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1015.8819, + 6256.5926, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 1015.8819, + 6256.5926, + 200.0 + ], + "actual_end_pos": [ + 1015.8819, + 6256.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1015.8819, + 6256.5926, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 1065.8819, + 6343.1951, + 200.0 + ], + "actual_end_pos": [ + 1065.8819, + 6343.1951, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1065.8819, + 6343.1951, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 1065.8819, + 6343.1951, + 200.0 + ], + "actual_end_pos": [ + 1065.8819, + 6343.1951, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1065.8819, + 6343.1951, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 1065.8819, + 6343.1951, + 200.0 + ], + "actual_end_pos": [ + 1065.8819, + 6343.1951, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1065.8819, + 6343.1951, + 200.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1135.9876, + 6413.3009, + 186.9474 + ], + "actual_end_pos": [ + 1135.9876, + 6413.3009, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1135.9876, + 6413.3009, + 186.9474 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1206.0934, + 6483.4066, + 173.8948 + ], + "actual_end_pos": [ + 1206.0934, + 6483.4066, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1206.0934, + 6483.4066, + 173.8948 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1206.0934, + 6483.4066, + 173.8948 + ], + "actual_end_pos": [ + 1206.0934, + 6483.4066, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1206.0934, + 6483.4066, + 173.8948 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1120.2317, + 6433.8344, + 186.9474 + ], + "actual_end_pos": [ + 1120.2317, + 6433.8344, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1120.2317, + 6433.8344, + 186.9474 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1120.2317, + 6433.8344, + 186.9474 + ], + "actual_end_pos": [ + 1120.2317, + 6433.8344, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1120.2317, + 6433.8344, + 186.9474 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1120.2317, + 6433.8344, + 186.9474 + ], + "actual_end_pos": [ + 1120.2317, + 6433.8344, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1120.2317, + 6433.8344, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1216.8243, + 6459.7163, + 186.9474 + ], + "actual_end_pos": [ + 1216.8243, + 6459.7163, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1216.8243, + 6459.7163, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1216.8243, + 6459.7163, + 186.9474 + ], + "actual_end_pos": [ + 1216.8243, + 6459.7163, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1216.8243, + 6459.7163, + 186.9474 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1303.4269, + 6509.7163, + 186.9474 + ], + "actual_end_pos": [ + 1303.4269, + 6509.7163, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1303.4269, + 6509.7163, + 186.9474 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1303.4269, + 6509.7163, + 186.9474 + ], + "actual_end_pos": [ + 1303.4269, + 6509.7163, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1303.4269, + 6509.7163, + 186.9474 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1389.2885, + 6559.2885, + 173.8948 + ], + "actual_end_pos": [ + 1389.2885, + 6559.2885, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1389.2885, + 6559.2885, + 173.8948 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1439.2885, + 6472.686, + 173.8948 + ], + "actual_end_pos": [ + 1439.2885, + 6472.686, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1439.2885, + 6472.686, + 173.8948 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1439.2885, + 6472.686, + 173.8948 + ], + "actual_end_pos": [ + 1439.2885, + 6472.686, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1439.2885, + 6472.686, + 173.8948 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1343.5223, + 6447.0255, + 186.9474 + ], + "actual_end_pos": [ + 1343.5223, + 6447.0255, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1343.5223, + 6447.0255, + 186.9474 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1343.5223, + 6447.0255, + 186.9474 + ], + "actual_end_pos": [ + 1343.5223, + 6447.0255, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1343.5223, + 6447.0255, + 186.9474 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1343.5223, + 6447.0255, + 186.9474 + ], + "actual_end_pos": [ + 1343.5223, + 6447.0255, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1343.5223, + 6447.0255, + 186.9474 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1343.5223, + 6447.0255, + 186.9474 + ], + "actual_end_pos": [ + 1343.5223, + 6447.0255, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1343.5223, + 6447.0255, + 186.9474 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 1343.5223, + 6447.0255, + 186.9474 + ], + "actual_end_pos": [ + 1343.5223, + 6447.0255, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1343.5223, + 6447.0255, + 186.9474 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 1343.5223, + 6447.0255, + 186.9474 + ], + "actual_end_pos": [ + 1343.5223, + 6447.0255, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1343.5223, + 6447.0255, + 186.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1343.5223, + 6447.0255, + 186.9474 + ], + "actual_end_pos": [ + 1343.5223, + 6447.0255, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1343.5223, + 6447.0255, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1343.5223, + 6347.0255, + 186.9474 + ], + "actual_end_pos": [ + 1343.5223, + 6347.0255, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1343.5223, + 6347.0255, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1343.5223, + 6247.0255, + 186.9474 + ], + "actual_end_pos": [ + 1343.5223, + 6247.0255, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1343.5223, + 6247.0255, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1243.5223, + 6247.0255, + 186.9474 + ], + "actual_end_pos": [ + 1243.5223, + 6247.0255, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1243.5223, + 6247.0255, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1243.5223, + 6247.0255, + 186.9474 + ], + "actual_end_pos": [ + 1243.5223, + 6247.0255, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1243.5223, + 6247.0255, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1243.5223, + 6247.0255, + 186.9474 + ], + "actual_end_pos": [ + 1243.5223, + 6247.0255, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1243.5223, + 6247.0255, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1243.5223, + 6247.0255, + 186.9474 + ], + "actual_end_pos": [ + 1243.5223, + 6247.0255, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1243.5223, + 6247.0255, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1243.5223, + 6247.0255, + 186.9474 + ], + "actual_end_pos": [ + 1243.5223, + 6247.0255, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1243.5223, + 6247.0255, + 186.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1243.5223, + 6247.0255, + 186.9474 + ], + "actual_end_pos": [ + 1243.5223, + 6247.0255, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_002546_meta.json b/loop_easy/run_20260413_221314__traj_002546_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..09850210b52274e193e6103e1d1ec03e95a63915 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_002546_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2546, + "episode_id": 0, + "state_id": 1908, + "sample_index": 1908, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1790.0, + 6260.0, + 200.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "look_down", + "turn_right", + "move_forward", + "turn_right", + "move_forward", + "turn_left", + "move_forward", + "turn_right", + "move_left", + "move_left", + "move_forward", + "move_forward", + "move_right", + "turn_left", + "no_op", + "move_forward", + "move_right", + "no_op", + "look_down", + "turn_left", + "turn_left", + "move_forward", + "turn_right", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1790.0, + 6260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1790.0, + 6160.0, + 200.0 + ], + "actual_end_pos": [ + 1790.0, + 6160.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1790.0, + 6160.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1790.0, + 6160.0, + 200.0 + ], + "actual_end_pos": [ + 1790.0, + 6160.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1790.0, + 6160.0, + 200.0 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 1790.0, + 6160.0, + 200.0 + ], + "actual_end_pos": [ + 1790.0, + 6160.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1790.0, + 6160.0, + 200.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1694.2338, + 6134.3395, + 186.9474 + ], + "actual_end_pos": [ + 1694.2338, + 6134.3395, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1694.2338, + 6134.3395, + 186.9474 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1694.2338, + 6134.3395, + 186.9474 + ], + "actual_end_pos": [ + 1694.2338, + 6134.3395, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1694.2338, + 6134.3395, + 186.9474 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1608.3721, + 6084.7673, + 173.8948 + ], + "actual_end_pos": [ + 1608.3721, + 6084.7673, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1608.3721, + 6084.7673, + 173.8948 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1608.3721, + 6084.7673, + 173.8948 + ], + "actual_end_pos": [ + 1608.3721, + 6084.7673, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1608.3721, + 6084.7673, + 173.8948 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1512.6059, + 6059.1068, + 160.8421 + ], + "actual_end_pos": [ + 1512.6059, + 6059.1068, + 160.8421 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1512.6059, + 6059.1068, + 160.8421 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1512.6059, + 6059.1068, + 160.8421 + ], + "actual_end_pos": [ + 1512.6059, + 6059.1068, + 160.8421 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1512.6059, + 6059.1068, + 160.8421 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1462.6059, + 6145.7093, + 160.8421 + ], + "actual_end_pos": [ + 1462.6059, + 6145.7093, + 160.8421 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1462.6059, + 6145.7093, + 160.8421 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1412.6059, + 6232.3119, + 160.8421 + ], + "actual_end_pos": [ + 1412.6059, + 6232.3119, + 160.8421 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1412.6059, + 6232.3119, + 160.8421 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1326.7443, + 6182.7396, + 147.7895 + ], + "actual_end_pos": [ + 1326.7443, + 6182.7396, + 147.7895 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1326.7443, + 6182.7396, + 147.7895 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.8826, + 6133.1674, + 134.7369 + ], + "actual_end_pos": [ + 1240.8826, + 6133.1674, + 134.7369 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1240.8826, + 6133.1674, + 134.7369 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1290.8826, + 6046.5648, + 134.7369 + ], + "actual_end_pos": [ + 1290.8826, + 6046.5648, + 134.7369 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1290.8826, + 6046.5648, + 134.7369 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1290.8826, + 6046.5648, + 134.7369 + ], + "actual_end_pos": [ + 1290.8826, + 6046.5648, + 134.7369 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1290.8826, + 6046.5648, + 134.7369 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1290.8826, + 6046.5648, + 134.7369 + ], + "actual_end_pos": [ + 1290.8826, + 6046.5648, + 134.7369 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1290.8826, + 6046.5648, + 134.7369 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1195.1164, + 6020.9044, + 121.6843 + ], + "actual_end_pos": [ + 1195.1164, + 6020.9044, + 121.6843 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1195.1164, + 6020.9044, + 121.6843 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1220.9983, + 5924.3118, + 121.6843 + ], + "actual_end_pos": [ + 1220.9983, + 5924.3118, + 121.6843 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1220.9983, + 5924.3118, + 121.6843 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1220.9983, + 5924.3118, + 121.6843 + ], + "actual_end_pos": [ + 1220.9983, + 5924.3118, + 121.6843 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1220.9983, + 5924.3118, + 121.6843 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1220.9983, + 5924.3118, + 121.6843 + ], + "actual_end_pos": [ + 1220.9983, + 5924.3118, + 121.6843 + ], + "actual_end_rot": [ + -15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1220.9983, + 5924.3118, + 121.6843 + ], + "start_rot": [ + -15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1220.9983, + 5924.3118, + 121.6843 + ], + "actual_end_pos": [ + 1220.9983, + 5924.3118, + 121.6843 + ], + "actual_end_rot": [ + -15.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1220.9983, + 5924.3118, + 121.6843 + ], + "start_rot": [ + -15.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + 1220.9983, + 5924.3118, + 121.6843 + ], + "actual_end_pos": [ + 1220.9983, + 5924.3118, + 121.6843 + ], + "actual_end_rot": [ + -15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1220.9983, + 5924.3118, + 121.6843 + ], + "start_rot": [ + -15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 1127.697, + 5949.3118, + 95.8024 + ], + "actual_end_pos": [ + 1127.697, + 5949.3118, + 95.8024 + ], + "actual_end_rot": [ + -15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1127.697, + 5949.3118, + 95.8024 + ], + "start_rot": [ + -15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 1127.697, + 5949.3118, + 95.8024 + ], + "actual_end_pos": [ + 1127.697, + 5949.3118, + 95.8024 + ], + "actual_end_rot": [ + -15.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1127.697, + 5949.3118, + 95.8024 + ], + "start_rot": [ + -15.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1127.697, + 5949.3118, + 95.8024 + ], + "actual_end_pos": [ + 1127.697, + 5949.3118, + 95.8024 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1127.697, + 5949.3118, + 95.8024 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1226.8415, + 5949.3118, + 108.855 + ], + "actual_end_pos": [ + 1226.8415, + 5949.3118, + 108.855 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1226.8415, + 5949.3118, + 108.855 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1325.986, + 5949.3118, + 121.9076 + ], + "actual_end_pos": [ + 1325.986, + 5949.3118, + 121.9076 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1325.986, + 5949.3118, + 121.9076 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1425.1305, + 5949.3118, + 134.9602 + ], + "actual_end_pos": [ + 1425.1305, + 5949.3118, + 134.9602 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1425.1305, + 5949.3118, + 134.9602 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1524.275, + 5949.3118, + 148.0129 + ], + "actual_end_pos": [ + 1524.275, + 5949.3118, + 148.0129 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1524.275, + 5949.3118, + 148.0129 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1623.4195, + 5949.3118, + 161.0655 + ], + "actual_end_pos": [ + 1623.4195, + 5949.3118, + 161.0655 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1623.4195, + 5949.3118, + 161.0655 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1722.564, + 5949.3118, + 174.1181 + ], + "actual_end_pos": [ + 1722.564, + 5949.3118, + 174.1181 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1722.564, + 5949.3118, + 174.1181 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1821.7085, + 5949.3118, + 187.1707 + ], + "actual_end_pos": [ + 1821.7085, + 5949.3118, + 187.1707 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1821.7085, + 5949.3118, + 187.1707 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1821.7085, + 6049.3118, + 187.1707 + ], + "actual_end_pos": [ + 1821.7085, + 6049.3118, + 187.1707 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1821.7085, + 6049.3118, + 187.1707 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1821.7085, + 6149.3118, + 187.1707 + ], + "actual_end_pos": [ + 1821.7085, + 6149.3118, + 187.1707 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1821.7085, + 6149.3118, + 187.1707 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1821.7085, + 6249.3118, + 187.1707 + ], + "actual_end_pos": [ + 1821.7085, + 6249.3118, + 187.1707 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1821.7085, + 6249.3118, + 187.1707 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1821.7085, + 6249.3118, + 187.1707 + ], + "actual_end_pos": [ + 1821.7085, + 6249.3118, + 187.1707 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1821.7085, + 6249.3118, + 187.1707 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1821.7085, + 6249.3118, + 187.1707 + ], + "actual_end_pos": [ + 1821.7085, + 6249.3118, + 187.1707 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1821.7085, + 6249.3118, + 187.1707 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1821.7085, + 6249.3118, + 187.1707 + ], + "actual_end_pos": [ + 1821.7085, + 6249.3118, + 187.1707 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1821.7085, + 6249.3118, + 187.1707 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1821.7085, + 6249.3118, + 187.1707 + ], + "actual_end_pos": [ + 1821.7085, + 6249.3118, + 187.1707 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1821.7085, + 6249.3118, + 187.1707 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1821.7085, + 6249.3118, + 187.1707 + ], + "actual_end_pos": [ + 1821.7085, + 6249.3118, + 187.1707 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_002572_meta.json b/loop_easy/run_20260413_221314__traj_002572_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2d123082b700af6e76aa914eda9b13353f1ea408 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_002572_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2572, + "episode_id": 0, + "state_id": 1927, + "sample_index": 1927, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2290.0, + -3240.0, + 200.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "move_right", + "turn_left", + "move_right", + "turn_right", + "move_backward", + "move_right", + "move_right", + "turn_left", + "move_backward", + "turn_right", + "move_forward", + "move_forward", + "move_right", + "turn_left", + "look_down", + "turn_right", + "move_left", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "look_up", + "move_forward", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2290.0, + -3240.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2290.0, + -3240.0, + 200.0 + ], + "actual_end_pos": [ + 2290.0, + -3240.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2290.0, + -3240.0, + 200.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2360.7107, + -3169.2893, + 200.0 + ], + "actual_end_pos": [ + 2360.7107, + -3169.2893, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2360.7107, + -3169.2893, + 200.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2360.7107, + -3169.2893, + 200.0 + ], + "actual_end_pos": [ + 2360.7107, + -3169.2893, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2360.7107, + -3169.2893, + 200.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2447.3132, + -3119.2893, + 200.0 + ], + "actual_end_pos": [ + 2447.3132, + -3119.2893, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2447.3132, + -3119.2893, + 200.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2447.3132, + -3119.2893, + 200.0 + ], + "actual_end_pos": [ + 2447.3132, + -3119.2893, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2447.3132, + -3119.2893, + 200.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2377.2075, + -3049.1836, + 213.0526 + ], + "actual_end_pos": [ + 2377.2075, + -3049.1836, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2377.2075, + -3049.1836, + 213.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2447.9182, + -2978.4729, + 213.0526 + ], + "actual_end_pos": [ + 2447.9182, + -2978.4729, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2447.9182, + -2978.4729, + 213.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2518.6288, + -2907.7622, + 213.0526 + ], + "actual_end_pos": [ + 2518.6288, + -2907.7622, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2518.6288, + -2907.7622, + 213.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2518.6288, + -2907.7622, + 213.0526 + ], + "actual_end_pos": [ + 2518.6288, + -2907.7622, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2518.6288, + -2907.7622, + 213.0526 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2469.0566, + -2821.9006, + 226.1052 + ], + "actual_end_pos": [ + 2469.0566, + -2821.9006, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2469.0566, + -2821.9006, + 226.1052 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2469.0566, + -2821.9006, + 226.1052 + ], + "actual_end_pos": [ + 2469.0566, + -2821.9006, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2469.0566, + -2821.9006, + 226.1052 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2539.1623, + -2892.0063, + 213.0526 + ], + "actual_end_pos": [ + 2539.1623, + -2892.0063, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2539.1623, + -2892.0063, + 213.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2609.2681, + -2962.1121, + 200.0 + ], + "actual_end_pos": [ + 2609.2681, + -2962.1121, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2609.2681, + -2962.1121, + 200.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2679.9787, + -2891.4014, + 200.0 + ], + "actual_end_pos": [ + 2679.9787, + -2891.4014, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2679.9787, + -2891.4014, + 200.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2679.9787, + -2891.4014, + 200.0 + ], + "actual_end_pos": [ + 2679.9787, + -2891.4014, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2679.9787, + -2891.4014, + 200.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2679.9787, + -2891.4014, + 200.0 + ], + "actual_end_pos": [ + 2679.9787, + -2891.4014, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2679.9787, + -2891.4014, + 200.0 + ], + "start_rot": [ + -15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2679.9787, + -2891.4014, + 200.0 + ], + "actual_end_pos": [ + 2679.9787, + -2891.4014, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2679.9787, + -2891.4014, + 200.0 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2609.2681, + -2962.1121, + 200.0 + ], + "actual_end_pos": [ + 2609.2681, + -2962.1121, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2609.2681, + -2962.1121, + 200.0 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2540.9668, + -2893.8108, + 225.8819 + ], + "actual_end_pos": [ + 2540.9668, + -2893.8108, + 225.8819 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2540.9668, + -2893.8108, + 225.8819 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2540.9668, + -2893.8108, + 225.8819 + ], + "actual_end_pos": [ + 2540.9668, + -2893.8108, + 225.8819 + ], + "actual_end_rot": [ + -15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2540.9668, + -2893.8108, + 225.8819 + ], + "start_rot": [ + -15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2540.9668, + -2893.8108, + 225.8819 + ], + "actual_end_pos": [ + 2540.9668, + -2893.8108, + 225.8819 + ], + "actual_end_rot": [ + -15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2540.9668, + -2893.8108, + 225.8819 + ], + "start_rot": [ + -15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2540.9668, + -2893.8108, + 225.8819 + ], + "actual_end_pos": [ + 2540.9668, + -2893.8108, + 225.8819 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2540.9668, + -2893.8108, + 225.8819 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2440.9668, + -2893.8108, + 225.8819 + ], + "actual_end_pos": [ + 2440.9668, + -2893.8108, + 225.8819 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2440.9668, + -2893.8108, + 225.8819 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2440.9668, + -2893.8108, + 225.8819 + ], + "actual_end_pos": [ + 2440.9668, + -2893.8108, + 225.8819 + ], + "actual_end_rot": [ + -15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2440.9668, + -2893.8108, + 225.8819 + ], + "start_rot": [ + -15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2440.9668, + -2893.8108, + 225.8819 + ], + "actual_end_pos": [ + 2440.9668, + -2893.8108, + 225.8819 + ], + "actual_end_rot": [ + -15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2440.9668, + -2893.8108, + 225.8819 + ], + "start_rot": [ + -15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2440.9668, + -2893.8108, + 225.8819 + ], + "actual_end_pos": [ + 2440.9668, + -2893.8108, + 225.8819 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2440.9668, + -2893.8108, + 225.8819 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2440.9668, + -2893.8108, + 225.8819 + ], + "actual_end_pos": [ + 2440.9668, + -2893.8108, + 225.8819 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2440.9668, + -2893.8108, + 225.8819 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2511.0725, + -2963.9165, + 212.8293 + ], + "actual_end_pos": [ + 2511.0725, + -2963.9165, + 212.8293 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2511.0725, + -2963.9165, + 212.8293 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2440.3619, + -3034.6272, + 212.8293 + ], + "actual_end_pos": [ + 2440.3619, + -3034.6272, + 212.8293 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2440.3619, + -3034.6272, + 212.8293 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2369.6512, + -3105.3379, + 212.8293 + ], + "actual_end_pos": [ + 2369.6512, + -3105.3379, + 212.8293 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2369.6512, + -3105.3379, + 212.8293 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2298.9405, + -3176.0486, + 212.8293 + ], + "actual_end_pos": [ + 2298.9405, + -3176.0486, + 212.8293 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2298.9405, + -3176.0486, + 212.8293 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "actual_end_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "actual_end_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "actual_end_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "actual_end_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "actual_end_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "actual_end_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "actual_end_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "actual_end_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "actual_end_pos": [ + 2228.2298, + -3246.7592, + 212.8293 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_002870_meta.json b/loop_easy/run_20260413_221314__traj_002870_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..da78ba55222aa55f04ba6c7e455554d8402834e2 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_002870_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2870, + "episode_id": 0, + "state_id": 2146, + "sample_index": 2146, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2790.0, + 5260.0, + 200.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_backward", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_right", + "move_forward", + "move_left", + "no_op", + "move_left", + "turn_right", + "move_right", + "move_backward", + "move_left", + "move_forward", + "move_right", + "turn_right", + "move_right", + "move_forward", + "move_right", + "turn_right", + "move_forward", + "move_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2790.0, + 5260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2690.0, + 5260.0, + 200.0 + ], + "actual_end_pos": [ + 2690.0, + 5260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2690.0, + 5260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2690.0, + 5160.0, + 200.0 + ], + "actual_end_pos": [ + 2690.0, + 5160.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2690.0, + 5160.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2690.0, + 5160.0, + 200.0 + ], + "actual_end_pos": [ + 2690.0, + 5160.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2690.0, + 5160.0, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2690.0, + 5160.0, + 200.0 + ], + "actual_end_pos": [ + 2690.0, + 5160.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2690.0, + 5160.0, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2740.0, + 5246.6025, + 200.0 + ], + "actual_end_pos": [ + 2740.0, + 5246.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2740.0, + 5246.6025, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2790.0, + 5333.2051, + 200.0 + ], + "actual_end_pos": [ + 2790.0, + 5333.2051, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2790.0, + 5333.2051, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2703.3975, + 5383.2051, + 200.0 + ], + "actual_end_pos": [ + 2703.3975, + 5383.2051, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2703.3975, + 5383.2051, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2753.3975, + 5469.8076, + 200.0 + ], + "actual_end_pos": [ + 2753.3975, + 5469.8076, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2753.3975, + 5469.8076, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2840.0, + 5419.8076, + 200.0 + ], + "actual_end_pos": [ + 2840.0, + 5419.8076, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2840.0, + 5419.8076, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2840.0, + 5419.8076, + 200.0 + ], + "actual_end_pos": [ + 2840.0, + 5419.8076, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2840.0, + 5419.8076, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2926.6025, + 5369.8076, + 200.0 + ], + "actual_end_pos": [ + 2926.6025, + 5369.8076, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2926.6025, + 5369.8076, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2926.6025, + 5369.8076, + 200.0 + ], + "actual_end_pos": [ + 2926.6025, + 5369.8076, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2926.6025, + 5369.8076, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2830.01, + 5395.6895, + 200.0 + ], + "actual_end_pos": [ + 2830.01, + 5395.6895, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2830.01, + 5395.6895, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2804.1281, + 5299.0969, + 200.0 + ], + "actual_end_pos": [ + 2804.1281, + 5299.0969, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2804.1281, + 5299.0969, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2900.7206, + 5273.215, + 200.0 + ], + "actual_end_pos": [ + 2900.7206, + 5273.215, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2900.7206, + 5273.215, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2926.6025, + 5369.8076, + 200.0 + ], + "actual_end_pos": [ + 2926.6025, + 5369.8076, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2926.6025, + 5369.8076, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2830.01, + 5395.6895, + 200.0 + ], + "actual_end_pos": [ + 2830.01, + 5395.6895, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2830.01, + 5395.6895, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2830.01, + 5395.6895, + 200.0 + ], + "actual_end_pos": [ + 2830.01, + 5395.6895, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2830.01, + 5395.6895, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2730.01, + 5395.6895, + 200.0 + ], + "actual_end_pos": [ + 2730.01, + 5395.6895, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2730.01, + 5395.6895, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2730.01, + 5495.6895, + 200.0 + ], + "actual_end_pos": [ + 2730.01, + 5495.6895, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2730.01, + 5495.6895, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2630.01, + 5495.6895, + 200.0 + ], + "actual_end_pos": [ + 2630.01, + 5495.6895, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2630.01, + 5495.6895, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2630.01, + 5495.6895, + 200.0 + ], + "actual_end_pos": [ + 2630.01, + 5495.6895, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2630.01, + 5495.6895, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2604.1281, + 5592.2821, + 200.0 + ], + "actual_end_pos": [ + 2604.1281, + 5592.2821, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2604.1281, + 5592.2821, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2700.7206, + 5618.164, + 200.0 + ], + "actual_end_pos": [ + 2700.7206, + 5618.164, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2700.7206, + 5618.164, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2700.7206, + 5618.164, + 200.0 + ], + "actual_end_pos": [ + 2700.7206, + 5618.164, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2700.7206, + 5618.164, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2700.7206, + 5518.164, + 200.0 + ], + "actual_end_pos": [ + 2700.7206, + 5518.164, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2700.7206, + 5518.164, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2700.7206, + 5418.164, + 200.0 + ], + "actual_end_pos": [ + 2700.7206, + 5418.164, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2700.7206, + 5418.164, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2700.7206, + 5318.164, + 200.0 + ], + "actual_end_pos": [ + 2700.7206, + 5318.164, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2700.7206, + 5318.164, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2700.7206, + 5218.164, + 200.0 + ], + "actual_end_pos": [ + 2700.7206, + 5218.164, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2700.7206, + 5218.164, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_pos": [ + 2800.7206, + 5218.164, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_002880_meta.json b/loop_easy/run_20260413_221314__traj_002880_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5713d2b19cb25d729525367c8d37c16413be3206 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_002880_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2880, + "episode_id": 0, + "state_id": 2153, + "sample_index": 2153, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2790.0, + 5760.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_forward", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "move_forward", + "turn_left", + "move_left", + "move_forward", + "no_op", + "turn_right", + "move_backward", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_backward", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2790.0, + 5760.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2790.0, + 5760.0, + 200.0 + ], + "actual_end_pos": [ + 2790.0, + 5760.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2790.0, + 5760.0, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2876.6025, + 5810.0, + 200.0 + ], + "actual_end_pos": [ + 2876.6025, + 5810.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2876.6025, + 5810.0, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2876.6025, + 5810.0, + 200.0 + ], + "actual_end_pos": [ + 2876.6025, + 5810.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2876.6025, + 5810.0, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 2973.1951, + 5835.8819, + 200.0 + ], + "actual_end_pos": [ + 2973.1951, + 5835.8819, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2973.1951, + 5835.8819, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3069.7877, + 5861.7638, + 200.0 + ], + "actual_end_pos": [ + 3069.7877, + 5861.7638, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3069.7877, + 5861.7638, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3166.3803, + 5887.6457, + 200.0 + ], + "actual_end_pos": [ + 3166.3803, + 5887.6457, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3166.3803, + 5887.6457, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3140.4984, + 5984.2383, + 200.0 + ], + "actual_end_pos": [ + 3140.4984, + 5984.2383, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3140.4984, + 5984.2383, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3237.091, + 6010.1202, + 200.0 + ], + "actual_end_pos": [ + 3237.091, + 6010.1202, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3237.091, + 6010.1202, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3237.091, + 6010.1202, + 200.0 + ], + "actual_end_pos": [ + 3237.091, + 6010.1202, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3237.091, + 6010.1202, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3237.091, + 5910.1202, + 200.0 + ], + "actual_end_pos": [ + 3237.091, + 5910.1202, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3237.091, + 5910.1202, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3337.091, + 5910.1202, + 200.0 + ], + "actual_end_pos": [ + 3337.091, + 5910.1202, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3337.091, + 5910.1202, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3337.091, + 5910.1202, + 200.0 + ], + "actual_end_pos": [ + 3337.091, + 5910.1202, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3337.091, + 5910.1202, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3337.091, + 5910.1202, + 200.0 + ], + "actual_end_pos": [ + 3337.091, + 5910.1202, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3337.091, + 5910.1202, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3240.4984, + 5884.2383, + 200.0 + ], + "actual_end_pos": [ + 3240.4984, + 5884.2383, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3240.4984, + 5884.2383, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3240.4984, + 5884.2383, + 200.0 + ], + "actual_end_pos": [ + 3240.4984, + 5884.2383, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3240.4984, + 5884.2383, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3190.4984, + 5970.8408, + 200.0 + ], + "actual_end_pos": [ + 3190.4984, + 5970.8408, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3190.4984, + 5970.8408, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3140.4984, + 6057.4434, + 200.0 + ], + "actual_end_pos": [ + 3140.4984, + 6057.4434, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3140.4984, + 6057.4434, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3090.4984, + 6144.0459, + 200.0 + ], + "actual_end_pos": [ + 3090.4984, + 6144.0459, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3090.4984, + 6144.0459, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3003.8958, + 6094.0459, + 200.0 + ], + "actual_end_pos": [ + 3003.8958, + 6094.0459, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3003.8958, + 6094.0459, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3003.8958, + 6094.0459, + 200.0 + ], + "actual_end_pos": [ + 3003.8958, + 6094.0459, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3003.8958, + 6094.0459, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2933.1852, + 6023.3352, + 200.0 + ], + "actual_end_pos": [ + 2933.1852, + 6023.3352, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2933.1852, + 6023.3352, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2862.4745, + 5952.6246, + 200.0 + ], + "actual_end_pos": [ + 2862.4745, + 5952.6246, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2862.4745, + 5952.6246, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2791.7638, + 5881.9139, + 200.0 + ], + "actual_end_pos": [ + 2791.7638, + 5881.9139, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2791.7638, + 5881.9139, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2721.0531, + 5811.2032, + 200.0 + ], + "actual_end_pos": [ + 2721.0531, + 5811.2032, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2721.0531, + 5811.2032, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_pos": [ + 2791.7638, + 5740.4925, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_002908_meta.json b/loop_easy/run_20260413_221314__traj_002908_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8255c1c21d0c56d834eaae0ea058b73c5bc25a69 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_002908_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2908, + "episode_id": 0, + "state_id": 2175, + "sample_index": 2175, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 3290.0, + -3740.0, + 200.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_left", + "move_backward", + "look_down", + "move_right", + "move_backward", + "move_left", + "move_backward", + "move_right", + "move_right", + "look_up", + "look_up", + "move_backward", + "move_backward", + "look_down", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3290.0, + -3740.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3360.7107, + -3810.7107, + 200.0 + ], + "actual_end_pos": [ + 3360.7107, + -3810.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3360.7107, + -3810.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3431.4214, + -3881.4214, + 200.0 + ], + "actual_end_pos": [ + 3431.4214, + -3881.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3431.4214, + -3881.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3360.7107, + -3952.132, + 200.0 + ], + "actual_end_pos": [ + 3360.7107, + -3952.132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3360.7107, + -3952.132, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3290.0, + -3881.4214, + 200.0 + ], + "actual_end_pos": [ + 3290.0, + -3881.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3290.0, + -3881.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3290.0, + -3881.4214, + 200.0 + ], + "actual_end_pos": [ + 3290.0, + -3881.4214, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3290.0, + -3881.4214, + 200.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3360.7107, + -3810.7107, + 200.0 + ], + "actual_end_pos": [ + 3360.7107, + -3810.7107, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3360.7107, + -3810.7107, + 200.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3290.6049, + -3740.6049, + 213.0526 + ], + "actual_end_pos": [ + 3290.6049, + -3740.6049, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3290.6049, + -3740.6049, + 213.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3219.8943, + -3811.3156, + 213.0526 + ], + "actual_end_pos": [ + 3219.8943, + -3811.3156, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3219.8943, + -3811.3156, + 213.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3149.7885, + -3741.2099, + 226.1052 + ], + "actual_end_pos": [ + 3149.7885, + -3741.2099, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3149.7885, + -3741.2099, + 226.1052 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3220.4992, + -3670.4992, + 226.1052 + ], + "actual_end_pos": [ + 3220.4992, + -3670.4992, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3220.4992, + -3670.4992, + 226.1052 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3291.2099, + -3599.7885, + 226.1052 + ], + "actual_end_pos": [ + 3291.2099, + -3599.7885, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3291.2099, + -3599.7885, + 226.1052 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3291.2099, + -3599.7885, + 226.1052 + ], + "actual_end_pos": [ + 3291.2099, + -3599.7885, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3291.2099, + -3599.7885, + 226.1052 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3291.2099, + -3599.7885, + 226.1052 + ], + "actual_end_pos": [ + 3291.2099, + -3599.7885, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3291.2099, + -3599.7885, + 226.1052 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3221.1041, + -3529.6828, + 213.0526 + ], + "actual_end_pos": [ + 3221.1041, + -3529.6828, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3221.1041, + -3529.6828, + 213.0526 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3150.9984, + -3459.577, + 200.0 + ], + "actual_end_pos": [ + 3150.9984, + -3459.577, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3150.9984, + -3459.577, + 200.0 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3150.9984, + -3459.577, + 200.0 + ], + "actual_end_pos": [ + 3150.9984, + -3459.577, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3150.9984, + -3459.577, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3221.7091, + -3530.2877, + 200.0 + ], + "actual_end_pos": [ + 3221.7091, + -3530.2877, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3221.7091, + -3530.2877, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3600.9984, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3600.9984, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3292.4198, + -3600.9984, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3363.1304, + -3671.7091, + 200.0 + ], + "actual_end_pos": [ + 3363.1304, + -3671.7091, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3363.1304, + -3671.7091, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_pos": [ + 3292.4198, + -3742.4198, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_002924_meta.json b/loop_easy/run_20260413_221314__traj_002924_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f692578336d18a8d325662d0897180c99b595078 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_002924_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2924, + "episode_id": 0, + "state_id": 2186, + "sample_index": 2186, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 3290.0, + -2740.0, + 200.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_left", + "turn_right", + "no_op", + "move_forward", + "move_left", + "move_backward", + "move_left", + "move_left", + "move_forward", + "turn_left", + "move_left", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_forward", + "turn_left", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3290.0, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3290.0, + -2840.0, + 200.0 + ], + "actual_end_pos": [ + 3290.0, + -2840.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3290.0, + -2840.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3390.0, + -2840.0, + 200.0 + ], + "actual_end_pos": [ + 3390.0, + -2840.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3390.0, + -2840.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3390.0, + -2840.0, + 200.0 + ], + "actual_end_pos": [ + 3390.0, + -2840.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3390.0, + -2840.0, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3390.0, + -2840.0, + 200.0 + ], + "actual_end_pos": [ + 3390.0, + -2840.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3390.0, + -2840.0, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3364.1181, + -2743.4074, + 200.0 + ], + "actual_end_pos": [ + 3364.1181, + -2743.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3364.1181, + -2743.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3460.7107, + -2717.5255, + 200.0 + ], + "actual_end_pos": [ + 3460.7107, + -2717.5255, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3460.7107, + -2717.5255, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3486.5926, + -2814.1181, + 200.0 + ], + "actual_end_pos": [ + 3486.5926, + -2814.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3486.5926, + -2814.1181, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3583.1852, + -2788.2362, + 200.0 + ], + "actual_end_pos": [ + 3583.1852, + -2788.2362, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3583.1852, + -2788.2362, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3679.7777, + -2762.3543, + 200.0 + ], + "actual_end_pos": [ + 3679.7777, + -2762.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3679.7777, + -2762.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3653.8958, + -2665.7617, + 200.0 + ], + "actual_end_pos": [ + 3653.8958, + -2665.7617, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3653.8958, + -2665.7617, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3653.8958, + -2665.7617, + 200.0 + ], + "actual_end_pos": [ + 3653.8958, + -2665.7617, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3653.8958, + -2665.7617, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3753.8958, + -2665.7617, + 200.0 + ], + "actual_end_pos": [ + 3753.8958, + -2665.7617, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3753.8958, + -2665.7617, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3753.8958, + -2665.7617, + 200.0 + ], + "actual_end_pos": [ + 3753.8958, + -2665.7617, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3753.8958, + -2665.7617, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3657.3033, + -2691.6436, + 200.0 + ], + "actual_end_pos": [ + 3657.3033, + -2691.6436, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3657.3033, + -2691.6436, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3560.7107, + -2717.5255, + 200.0 + ], + "actual_end_pos": [ + 3560.7107, + -2717.5255, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3560.7107, + -2717.5255, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3464.1181, + -2743.4074, + 200.0 + ], + "actual_end_pos": [ + 3464.1181, + -2743.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3464.1181, + -2743.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3438.2362, + -2646.8148, + 200.0 + ], + "actual_end_pos": [ + 3438.2362, + -2646.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3438.2362, + -2646.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3438.2362, + -2646.8148, + 200.0 + ], + "actual_end_pos": [ + 3438.2362, + -2646.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3438.2362, + -2646.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3438.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3438.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3438.2362, + -2746.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_pos": [ + 3338.2362, + -2746.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_003071_meta.json b/loop_easy/run_20260413_221314__traj_003071_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c5f48a421b034fc1ba8f3aa90f80548848d9ea7d --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_003071_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 3071, + "episode_id": 0, + "state_id": 2289, + "sample_index": 2289, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 3290.0, + 5260.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_forward", + "move_left", + "look_up", + "move_right", + "no_op", + "no_op", + "look_up", + "move_right", + "no_op", + "move_right", + "move_backward", + "move_left", + "move_left", + "move_left", + "look_down", + "move_forward", + "move_forward", + "move_left", + "move_left", + "turn_right", + "turn_left", + "look_down", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3290.0, + 5260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3360.7107, + 5189.2893, + 200.0 + ], + "actual_end_pos": [ + 3360.7107, + 5189.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3360.7107, + 5189.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3431.4214, + 5260.0, + 200.0 + ], + "actual_end_pos": [ + 3431.4214, + 5260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3431.4214, + 5260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3502.132, + 5189.2893, + 200.0 + ], + "actual_end_pos": [ + 3502.132, + 5189.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3502.132, + 5189.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3502.132, + 5189.2893, + 200.0 + ], + "actual_end_pos": [ + 3502.132, + 5189.2893, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3502.132, + 5189.2893, + 200.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3431.4214, + 5260.0, + 200.0 + ], + "actual_end_pos": [ + 3431.4214, + 5260.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3431.4214, + 5260.0, + 200.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3431.4214, + 5260.0, + 200.0 + ], + "actual_end_pos": [ + 3431.4214, + 5260.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3431.4214, + 5260.0, + 200.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3431.4214, + 5260.0, + 200.0 + ], + "actual_end_pos": [ + 3431.4214, + 5260.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3431.4214, + 5260.0, + 200.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3431.4214, + 5260.0, + 200.0 + ], + "actual_end_pos": [ + 3431.4214, + 5260.0, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3431.4214, + 5260.0, + 200.0 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3360.7107, + 5330.7107, + 200.0 + ], + "actual_end_pos": [ + 3360.7107, + 5330.7107, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3360.7107, + 5330.7107, + 200.0 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3360.7107, + 5330.7107, + 200.0 + ], + "actual_end_pos": [ + 3360.7107, + 5330.7107, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3360.7107, + 5330.7107, + 200.0 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3290.0, + 5401.4214, + 200.0 + ], + "actual_end_pos": [ + 3290.0, + 5401.4214, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3290.0, + 5401.4214, + 200.0 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3221.6987, + 5333.1201, + 174.1181 + ], + "actual_end_pos": [ + 3221.6987, + 5333.1201, + 174.1181 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3221.6987, + 5333.1201, + 174.1181 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3292.4094, + 5262.4094, + 174.1181 + ], + "actual_end_pos": [ + 3292.4094, + 5262.4094, + 174.1181 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3292.4094, + 5262.4094, + 174.1181 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3363.1201, + 5191.6987, + 174.1181 + ], + "actual_end_pos": [ + 3363.1201, + 5191.6987, + 174.1181 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3363.1201, + 5191.6987, + 174.1181 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3433.8308, + 5120.9881, + 174.1181 + ], + "actual_end_pos": [ + 3433.8308, + 5120.9881, + 174.1181 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3433.8308, + 5120.9881, + 174.1181 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3433.8308, + 5120.9881, + 174.1181 + ], + "actual_end_pos": [ + 3433.8308, + 5120.9881, + 174.1181 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3433.8308, + 5120.9881, + 174.1181 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3503.9365, + 5191.0938, + 187.1707 + ], + "actual_end_pos": [ + 3503.9365, + 5191.0938, + 187.1707 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3503.9365, + 5191.0938, + 187.1707 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3574.0422, + 5261.1995, + 200.2233 + ], + "actual_end_pos": [ + 3574.0422, + 5261.1995, + 200.2233 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3574.0422, + 5261.1995, + 200.2233 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3644.7529, + 5190.4888, + 200.2233 + ], + "actual_end_pos": [ + 3644.7529, + 5190.4888, + 200.2233 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3644.7529, + 5190.4888, + 200.2233 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3715.4636, + 5119.7782, + 200.2233 + ], + "actual_end_pos": [ + 3715.4636, + 5119.7782, + 200.2233 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3715.4636, + 5119.7782, + 200.2233 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3715.4636, + 5119.7782, + 200.2233 + ], + "actual_end_pos": [ + 3715.4636, + 5119.7782, + 200.2233 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3715.4636, + 5119.7782, + 200.2233 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 3715.4636, + 5119.7782, + 200.2233 + ], + "actual_end_pos": [ + 3715.4636, + 5119.7782, + 200.2233 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3715.4636, + 5119.7782, + 200.2233 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3715.4636, + 5119.7782, + 200.2233 + ], + "actual_end_pos": [ + 3715.4636, + 5119.7782, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3715.4636, + 5119.7782, + 200.2233 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3644.7529, + 5049.0675, + 200.2233 + ], + "actual_end_pos": [ + 3644.7529, + 5049.0675, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3644.7529, + 5049.0675, + 200.2233 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3574.0422, + 4978.3568, + 200.2233 + ], + "actual_end_pos": [ + 3574.0422, + 4978.3568, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3574.0422, + 4978.3568, + 200.2233 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3503.3316, + 5049.0675, + 200.2233 + ], + "actual_end_pos": [ + 3503.3316, + 5049.0675, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3503.3316, + 5049.0675, + 200.2233 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3432.6209, + 5119.7782, + 200.2233 + ], + "actual_end_pos": [ + 3432.6209, + 5119.7782, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3432.6209, + 5119.7782, + 200.2233 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3361.9102, + 5190.4889, + 200.2233 + ], + "actual_end_pos": [ + 3361.9102, + 5190.4889, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3361.9102, + 5190.4889, + 200.2233 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_pos": [ + 3291.1995, + 5261.1995, + 200.2233 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_003083_meta.json b/loop_easy/run_20260413_221314__traj_003083_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a31e8ea930cc010c201059958ca457fddaf7961d --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_003083_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 3083, + "episode_id": 0, + "state_id": 2299, + "sample_index": 2299, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 3290.0, + 5760.0, + 200.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_forward", + "move_forward", + "look_up", + "turn_left", + "no_op", + "move_backward", + "move_left", + "move_forward", + "look_down", + "no_op", + "move_right", + "move_forward", + "look_down", + "no_op", + "turn_right", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3290.0, + 5760.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3219.2893, + 5689.2893, + 200.0 + ], + "actual_end_pos": [ + 3219.2893, + 5689.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3219.2893, + 5689.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3148.5786, + 5760.0, + 200.0 + ], + "actual_end_pos": [ + 3148.5786, + 5760.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3148.5786, + 5760.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3077.868, + 5830.7107, + 200.0 + ], + "actual_end_pos": [ + 3077.868, + 5830.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3077.868, + 5830.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3077.868, + 5830.7107, + 200.0 + ], + "actual_end_pos": [ + 3077.868, + 5830.7107, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3077.868, + 5830.7107, + 200.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 3077.868, + 5830.7107, + 200.0 + ], + "actual_end_pos": [ + 3077.868, + 5830.7107, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3077.868, + 5830.7107, + 200.0 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 3077.868, + 5830.7107, + 200.0 + ], + "actual_end_pos": [ + 3077.868, + 5830.7107, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3077.868, + 5830.7107, + 200.0 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 3127.4402, + 5744.849, + 186.9474 + ], + "actual_end_pos": [ + 3127.4402, + 5744.849, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3127.4402, + 5744.849, + 186.9474 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 3214.0427, + 5794.849, + 186.9474 + ], + "actual_end_pos": [ + 3214.0427, + 5794.849, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3214.0427, + 5794.849, + 186.9474 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 3164.4705, + 5880.7107, + 200.0 + ], + "actual_end_pos": [ + 3164.4705, + 5880.7107, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3164.4705, + 5880.7107, + 200.0 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 3164.4705, + 5880.7107, + 200.0 + ], + "actual_end_pos": [ + 3164.4705, + 5880.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3164.4705, + 5880.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 3164.4705, + 5880.7107, + 200.0 + ], + "actual_end_pos": [ + 3164.4705, + 5880.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3164.4705, + 5880.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 3077.868, + 5830.7107, + 200.0 + ], + "actual_end_pos": [ + 3077.868, + 5830.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3077.868, + 5830.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 3027.868, + 5917.3132, + 200.0 + ], + "actual_end_pos": [ + 3027.868, + 5917.3132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3027.868, + 5917.3132, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 3027.868, + 5917.3132, + 200.0 + ], + "actual_end_pos": [ + 3027.868, + 5917.3132, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3027.868, + 5917.3132, + 200.0 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 3027.868, + 5917.3132, + 200.0 + ], + "actual_end_pos": [ + 3027.868, + 5917.3132, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3027.868, + 5917.3132, + 200.0 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 3027.868, + 5917.3132, + 200.0 + ], + "actual_end_pos": [ + 3027.868, + 5917.3132, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3027.868, + 5917.3132, + 200.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3027.868, + 5917.3132, + 200.0 + ], + "actual_end_pos": [ + 3027.868, + 5917.3132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3027.868, + 5917.3132, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3098.5786, + 5846.6025, + 200.0 + ], + "actual_end_pos": [ + 3098.5786, + 5846.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3098.5786, + 5846.6025, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3169.2893, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + 3169.2893, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3169.2893, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3240.0, + 5705.1812, + 200.0 + ], + "actual_end_pos": [ + 3240.0, + 5705.1812, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3240.0, + 5705.1812, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_pos": [ + 3310.7107, + 5775.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_003093_meta.json b/loop_easy/run_20260413_221314__traj_003093_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..81e50463bc414ee8740fc895c167ba647234bf63 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_003093_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 3093, + "episode_id": 0, + "state_id": 2306, + "sample_index": 2306, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 3290.0, + 6260.0, + 200.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_left", + "move_left", + "turn_left", + "look_up", + "move_forward", + "move_right", + "turn_right", + "turn_right", + "move_forward", + "move_right", + "move_right", + "turn_right", + "move_backward", + "turn_left", + "turn_left", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3290.0, + 6260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3290.0, + 6360.0, + 200.0 + ], + "actual_end_pos": [ + 3290.0, + 6360.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3290.0, + 6360.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3290.0, + 6460.0, + 200.0 + ], + "actual_end_pos": [ + 3290.0, + 6460.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3290.0, + 6460.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3390.0, + 6460.0, + 200.0 + ], + "actual_end_pos": [ + 3390.0, + 6460.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3390.0, + 6460.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3490.0, + 6460.0, + 200.0 + ], + "actual_end_pos": [ + 3490.0, + 6460.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3490.0, + 6460.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3490.0, + 6460.0, + 200.0 + ], + "actual_end_pos": [ + 3490.0, + 6460.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3490.0, + 6460.0, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 3490.0, + 6460.0, + 200.0 + ], + "actual_end_pos": [ + 3490.0, + 6460.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3490.0, + 6460.0, + 200.0 + ], + "start_rot": [ + 7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 3515.6605, + 6555.7662, + 213.0526 + ], + "actual_end_pos": [ + 3515.6605, + 6555.7662, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3515.6605, + 6555.7662, + 213.0526 + ], + "start_rot": [ + 7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 3419.0679, + 6581.6481, + 213.0526 + ], + "actual_end_pos": [ + 3419.0679, + 6581.6481, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3419.0679, + 6581.6481, + 213.0526 + ], + "start_rot": [ + 7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 3419.0679, + 6581.6481, + 213.0526 + ], + "actual_end_pos": [ + 3419.0679, + 6581.6481, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3419.0679, + 6581.6481, + 213.0526 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3419.0679, + 6581.6481, + 213.0526 + ], + "actual_end_pos": [ + 3419.0679, + 6581.6481, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3419.0679, + 6581.6481, + 213.0526 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3393.4074, + 6677.4143, + 226.1052 + ], + "actual_end_pos": [ + 3393.4074, + 6677.4143, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3393.4074, + 6677.4143, + 226.1052 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3296.8148, + 6651.5324, + 226.1052 + ], + "actual_end_pos": [ + 3296.8148, + 6651.5324, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3296.8148, + 6651.5324, + 226.1052 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3200.2223, + 6625.6505, + 226.1052 + ], + "actual_end_pos": [ + 3200.2223, + 6625.6505, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3200.2223, + 6625.6505, + 226.1052 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3200.2223, + 6625.6505, + 226.1052 + ], + "actual_end_pos": [ + 3200.2223, + 6625.6505, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3200.2223, + 6625.6505, + 226.1052 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6539.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6539.7889, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3249.7945, + 6539.7889, + 213.0526 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6539.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6539.7889, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3249.7945, + 6539.7889, + 213.0526 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6539.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6539.7889, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3249.7945, + 6539.7889, + 213.0526 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6539.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6539.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3249.7945, + 6539.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6439.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6439.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3249.7945, + 6439.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6339.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6339.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3249.7945, + 6339.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_pos": [ + 3249.7945, + 6239.7889, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_003121_meta.json b/loop_easy/run_20260413_221314__traj_003121_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..419fdcc804b00bbe8b46563cc3b03e8179cb27bb --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_003121_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 3121, + "episode_id": 0, + "state_id": 2325, + "sample_index": 2325, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 3790.0, + -3240.0, + 200.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "no_op", + "move_left", + "move_left", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "move_left", + "turn_right", + "move_backward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "look_down", + "turn_right", + "turn_right", + "look_up", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3790.0, + -3240.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3860.7107, + -3310.7107, + 200.0 + ], + "actual_end_pos": [ + 3860.7107, + -3310.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3860.7107, + -3310.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3860.7107, + -3310.7107, + 200.0 + ], + "actual_end_pos": [ + 3860.7107, + -3310.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3860.7107, + -3310.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3790.0, + -3240.0, + 200.0 + ], + "actual_end_pos": [ + 3790.0, + -3240.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3790.0, + -3240.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3719.2893, + -3169.2893, + 200.0 + ], + "actual_end_pos": [ + 3719.2893, + -3169.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3719.2893, + -3169.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3648.5786, + -3098.5786, + 200.0 + ], + "actual_end_pos": [ + 3648.5786, + -3098.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3648.5786, + -3098.5786, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3577.868, + -3169.2893, + 200.0 + ], + "actual_end_pos": [ + 3577.868, + -3169.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3577.868, + -3169.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3507.1573, + -3240.0, + 200.0 + ], + "actual_end_pos": [ + 3507.1573, + -3240.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3507.1573, + -3240.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3436.4466, + -3310.7107, + 200.0 + ], + "actual_end_pos": [ + 3436.4466, + -3310.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3436.4466, + -3310.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3436.4466, + -3310.7107, + 200.0 + ], + "actual_end_pos": [ + 3436.4466, + -3310.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3436.4466, + -3310.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 3386.4466, + -3224.1081, + 200.0 + ], + "actual_end_pos": [ + 3386.4466, + -3224.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3386.4466, + -3224.1081, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 3386.4466, + -3224.1081, + 200.0 + ], + "actual_end_pos": [ + 3386.4466, + -3224.1081, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3386.4466, + -3224.1081, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3457.1573, + -3153.3975, + 200.0 + ], + "actual_end_pos": [ + 3457.1573, + -3153.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3457.1573, + -3153.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3457.1573, + -3153.3975, + 200.0 + ], + "actual_end_pos": [ + 3457.1573, + -3153.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3457.1573, + -3153.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 3457.1573, + -3153.3975, + 200.0 + ], + "actual_end_pos": [ + 3457.1573, + -3153.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3457.1573, + -3153.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3553.7499, + -3127.5156, + 200.0 + ], + "actual_end_pos": [ + 3553.7499, + -3127.5156, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3553.7499, + -3127.5156, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3650.3424, + -3101.6337, + 200.0 + ], + "actual_end_pos": [ + 3650.3424, + -3101.6337, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3650.3424, + -3101.6337, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3650.3424, + -3101.6337, + 200.0 + ], + "actual_end_pos": [ + 3650.3424, + -3101.6337, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3650.3424, + -3101.6337, + 200.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3650.3424, + -3101.6337, + 200.0 + ], + "actual_end_pos": [ + 3650.3424, + -3101.6337, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3650.3424, + -3101.6337, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 3650.3424, + -3101.6337, + 200.0 + ], + "actual_end_pos": [ + 3650.3424, + -3101.6337, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3650.3424, + -3101.6337, + 200.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3650.3424, + -3101.6337, + 200.0 + ], + "actual_end_pos": [ + 3650.3424, + -3101.6337, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3650.3424, + -3101.6337, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3721.0531, + -3172.3443, + 200.0 + ], + "actual_end_pos": [ + 3721.0531, + -3172.3443, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3721.0531, + -3172.3443, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_pos": [ + 3791.7638, + -3243.055, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260413_221314__traj_003150_meta.json b/loop_easy/run_20260413_221314__traj_003150_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..346b8abd3a37f08d166c7a67377adfdfba1fac00 --- /dev/null +++ b/loop_easy/run_20260413_221314__traj_003150_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 3150, + "episode_id": 0, + "state_id": 2346, + "sample_index": 2346, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 3790.0, + -1740.0, + 200.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_forward", + "turn_right", + "move_left", + "turn_right", + "move_backward", + "no_op", + "turn_left", + "move_backward", + "move_left", + "no_op", + "move_backward", + "move_right", + "look_up", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3790.0, + -1740.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3790.0, + -1640.0, + 200.0 + ], + "actual_end_pos": [ + 3790.0, + -1640.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3790.0, + -1640.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3790.0, + -1640.0, + 200.0 + ], + "actual_end_pos": [ + 3790.0, + -1640.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3790.0, + -1640.0, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3790.0, + -1640.0, + 200.0 + ], + "actual_end_pos": [ + 3790.0, + -1640.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3790.0, + -1640.0, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 3790.0, + -1640.0, + 200.0 + ], + "actual_end_pos": [ + 3790.0, + -1640.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3790.0, + -1640.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3860.7107, + -1569.2893, + 200.0 + ], + "actual_end_pos": [ + 3860.7107, + -1569.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3860.7107, + -1569.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3790.0, + -1498.5786, + 200.0 + ], + "actual_end_pos": [ + 3790.0, + -1498.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3790.0, + -1498.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3790.0, + -1498.5786, + 200.0 + ], + "actual_end_pos": [ + 3790.0, + -1498.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3790.0, + -1498.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3840.0, + -1411.9761, + 200.0 + ], + "actual_end_pos": [ + 3840.0, + -1411.9761, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3840.0, + -1411.9761, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3840.0, + -1411.9761, + 200.0 + ], + "actual_end_pos": [ + 3840.0, + -1411.9761, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3840.0, + -1411.9761, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3936.5926, + -1437.858, + 200.0 + ], + "actual_end_pos": [ + 3936.5926, + -1437.858, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3936.5926, + -1437.858, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3936.5926, + -1437.858, + 200.0 + ], + "actual_end_pos": [ + 3936.5926, + -1437.858, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3936.5926, + -1437.858, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3936.5926, + -1437.858, + 200.0 + ], + "actual_end_pos": [ + 3936.5926, + -1437.858, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3936.5926, + -1437.858, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4023.1951, + -1487.858, + 200.0 + ], + "actual_end_pos": [ + 4023.1951, + -1487.858, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4023.1951, + -1487.858, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4073.1951, + -1401.2555, + 200.0 + ], + "actual_end_pos": [ + 4073.1951, + -1401.2555, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4073.1951, + -1401.2555, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4073.1951, + -1401.2555, + 200.0 + ], + "actual_end_pos": [ + 4073.1951, + -1401.2555, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4073.1951, + -1401.2555, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4159.7977, + -1451.2555, + 200.0 + ], + "actual_end_pos": [ + 4159.7977, + -1451.2555, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4159.7977, + -1451.2555, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4109.7977, + -1537.858, + 200.0 + ], + "actual_end_pos": [ + 4109.7977, + -1537.858, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4109.7977, + -1537.858, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4109.7977, + -1537.858, + 200.0 + ], + "actual_end_pos": [ + 4109.7977, + -1537.858, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4109.7977, + -1537.858, + 200.0 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4159.7977, + -1451.2555, + 200.0 + ], + "actual_end_pos": [ + 4159.7977, + -1451.2555, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4159.7977, + -1451.2555, + 200.0 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4159.7977, + -1451.2555, + 200.0 + ], + "actual_end_pos": [ + 4159.7977, + -1451.2555, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4159.7977, + -1451.2555, + 200.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 4159.7977, + -1451.2555, + 200.0 + ], + "actual_end_pos": [ + 4159.7977, + -1451.2555, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4159.7977, + -1451.2555, + 200.0 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 4159.7977, + -1451.2555, + 200.0 + ], + "actual_end_pos": [ + 4159.7977, + -1451.2555, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4159.7977, + -1451.2555, + 200.0 + ], + "start_rot": [ + 7.5, + 105.0, + -0.0 + ], + "expected_end_pos": [ + 4159.7977, + -1451.2555, + 200.0 + ], + "actual_end_pos": [ + 4159.7977, + -1451.2555, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4159.7977, + -1451.2555, + 200.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 4159.7977, + -1451.2555, + 200.0 + ], + "actual_end_pos": [ + 4159.7977, + -1451.2555, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4159.7977, + -1451.2555, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 4159.7977, + -1551.2555, + 200.0 + ], + "actual_end_pos": [ + 4159.7977, + -1551.2555, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4159.7977, + -1551.2555, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 4159.7977, + -1651.2555, + 200.0 + ], + "actual_end_pos": [ + 4159.7977, + -1651.2555, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4159.7977, + -1651.2555, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 4159.7977, + -1751.2555, + 200.0 + ], + "actual_end_pos": [ + 4159.7977, + -1751.2555, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4159.7977, + -1751.2555, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 4059.7977, + -1751.2555, + 200.0 + ], + "actual_end_pos": [ + 4059.7977, + -1751.2555, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4059.7977, + -1751.2555, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3959.7977, + -1751.2555, + 200.0 + ], + "actual_end_pos": [ + 3959.7977, + -1751.2555, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3959.7977, + -1751.2555, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3859.7977, + -1751.2555, + 200.0 + ], + "actual_end_pos": [ + 3859.7977, + -1751.2555, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3859.7977, + -1751.2555, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "actual_end_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "actual_end_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "actual_end_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "actual_end_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "actual_end_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "actual_end_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "actual_end_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "actual_end_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "actual_end_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "actual_end_pos": [ + 3759.7977, + -1751.2555, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260414_132732__traj_000112_meta.json b/loop_easy/run_20260414_132732__traj_000112_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d6364462a1f3cdb018786186002baa4f09f18726 --- /dev/null +++ b/loop_easy/run_20260414_132732__traj_000112_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 112, + "episode_id": 0, + "state_id": 81, + "sample_index": 81, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -770.0, + -330.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "turn_left", + "move_right", + "turn_right", + "turn_right", + "move_left", + "move_forward", + "turn_right", + "move_backward", + "turn_right", + "move_left", + "turn_left", + "look_up", + "move_left", + "turn_left", + "look_up", + "turn_right", + "move_right", + "turn_right", + "move_forward", + "move_right", + "move_forward", + "look_down", + "turn_right", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "look_down", + "move_backward", + "move_backward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -770.0, + -330.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -770.0, + -330.0, + 200.0 + ], + "actual_end_pos": [ + -770.0, + -330.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -770.0, + -330.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -770.0, + -330.0, + 200.0 + ], + "actual_end_pos": [ + -770.0, + -330.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -770.0, + -330.0, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -820.0, + -243.3975, + 200.0 + ], + "actual_end_pos": [ + -820.0, + -243.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -820.0, + -243.3975, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -820.0, + -243.3975, + 200.0 + ], + "actual_end_pos": [ + -820.0, + -243.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -820.0, + -243.3975, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -820.0, + -243.3975, + 200.0 + ], + "actual_end_pos": [ + -820.0, + -243.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -820.0, + -243.3975, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -733.3975, + -293.3975, + 200.0 + ], + "actual_end_pos": [ + -733.3975, + -293.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -733.3975, + -293.3975, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -683.3975, + -206.7949, + 200.0 + ], + "actual_end_pos": [ + -683.3975, + -206.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -683.3975, + -206.7949, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -683.3975, + -206.7949, + 200.0 + ], + "actual_end_pos": [ + -683.3975, + -206.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -683.3975, + -206.7949, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -709.2794, + -303.3875, + 200.0 + ], + "actual_end_pos": [ + -709.2794, + -303.3875, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -709.2794, + -303.3875, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -709.2794, + -303.3875, + 200.0 + ], + "actual_end_pos": [ + -709.2794, + -303.3875, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -709.2794, + -303.3875, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -609.2794, + -303.3875, + 200.0 + ], + "actual_end_pos": [ + -609.2794, + -303.3875, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -609.2794, + -303.3875, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -609.2794, + -303.3875, + 200.0 + ], + "actual_end_pos": [ + -609.2794, + -303.3875, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -609.2794, + -303.3875, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -609.2794, + -303.3875, + 200.0 + ], + "actual_end_pos": [ + -609.2794, + -303.3875, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -609.2794, + -303.3875, + 200.0 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -512.6868, + -329.2694, + 200.0 + ], + "actual_end_pos": [ + -512.6868, + -329.2694, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -512.6868, + -329.2694, + 200.0 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -512.6868, + -329.2694, + 200.0 + ], + "actual_end_pos": [ + -512.6868, + -329.2694, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -512.6868, + -329.2694, + 200.0 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -512.6868, + -329.2694, + 200.0 + ], + "actual_end_pos": [ + -512.6868, + -329.2694, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -512.6868, + -329.2694, + 200.0 + ], + "start_rot": [ + 15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -512.6868, + -329.2694, + 200.0 + ], + "actual_end_pos": [ + -512.6868, + -329.2694, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -512.6868, + -329.2694, + 200.0 + ], + "start_rot": [ + 15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -609.2794, + -303.3875, + 200.0 + ], + "actual_end_pos": [ + -609.2794, + -303.3875, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -609.2794, + -303.3875, + 200.0 + ], + "start_rot": [ + 15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -609.2794, + -303.3875, + 200.0 + ], + "actual_end_pos": [ + -609.2794, + -303.3875, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -609.2794, + -303.3875, + 200.0 + ], + "start_rot": [ + 15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -609.2794, + -206.7949, + 225.8819 + ], + "actual_end_pos": [ + -609.2794, + -206.7949, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -609.2794, + -206.7949, + 225.8819 + ], + "start_rot": [ + 15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -709.2794, + -206.7949, + 225.8819 + ], + "actual_end_pos": [ + -709.2794, + -206.7949, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -709.2794, + -206.7949, + 225.8819 + ], + "start_rot": [ + 15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "actual_end_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "actual_end_rot": [ + 15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "start_rot": [ + 15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "actual_end_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "actual_end_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "actual_end_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "actual_end_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "actual_end_rot": [ + 7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "start_rot": [ + 7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "actual_end_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "actual_end_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "actual_end_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "actual_end_rot": [ + -0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -709.2794, + -110.2023, + 251.7638 + ], + "start_rot": [ + -0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -779.99, + -180.913, + 251.7638 + ], + "actual_end_pos": [ + -779.99, + -180.913, + 251.7638 + ], + "actual_end_rot": [ + -0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -779.99, + -180.913, + 251.7638 + ], + "start_rot": [ + -0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -850.7007, + -251.6237, + 251.7638 + ], + "actual_end_pos": [ + -850.7007, + -251.6237, + 251.7638 + ], + "actual_end_rot": [ + -0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -850.7007, + -251.6237, + 251.7638 + ], + "start_rot": [ + -0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "actual_end_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "actual_end_rot": [ + -0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "start_rot": [ + -0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "actual_end_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "actual_end_rot": [ + -0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "start_rot": [ + -0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "actual_end_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "actual_end_rot": [ + -0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "start_rot": [ + -0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "actual_end_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "actual_end_rot": [ + -0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "start_rot": [ + -0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "actual_end_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "actual_end_rot": [ + -0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "start_rot": [ + -0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "actual_end_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "actual_end_rot": [ + -0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "start_rot": [ + -0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "actual_end_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "actual_end_rot": [ + -0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "start_rot": [ + -0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "actual_end_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "actual_end_rot": [ + -0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "start_rot": [ + -0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "actual_end_pos": [ + -779.99, + -322.3344, + 251.7638 + ], + "actual_end_rot": [ + -0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260414_132732__traj_000329_meta.json b/loop_easy/run_20260414_132732__traj_000329_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c2adf7bd7e2d00289733e5a73e8589f11c0deec8 --- /dev/null +++ b/loop_easy/run_20260414_132732__traj_000329_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 329, + "episode_id": 0, + "state_id": 239, + "sample_index": 239, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -570.0, + 370.0, + 200.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_left", + "look_down", + "move_right", + "move_forward", + "move_left", + "turn_left", + "move_forward", + "look_down", + "move_right", + "move_forward", + "no_op", + "move_backward", + "move_left", + "turn_right", + "look_down", + "look_down", + "move_backward", + "no_op", + "move_forward", + "look_down", + "turn_left", + "move_right", + "turn_right", + "turn_right", + "look_up", + "look_up", + "look_up", + "move_backward", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -570.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -570.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -570.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -570.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -656.6025, + 320.0, + 200.0 + ], + "actual_end_pos": [ + -656.6025, + 320.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -656.6025, + 320.0, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -656.6025, + 320.0, + 200.0 + ], + "actual_end_pos": [ + -656.6025, + 320.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -656.6025, + 320.0, + 200.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -570.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -570.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -570.0, + 370.0, + 200.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -520.4278, + 284.1384, + 186.9474 + ], + "actual_end_pos": [ + -520.4278, + 284.1384, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -520.4278, + 284.1384, + 186.9474 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -607.0303, + 234.1384, + 186.9474 + ], + "actual_end_pos": [ + -607.0303, + 234.1384, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -607.0303, + 234.1384, + 186.9474 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -607.0303, + 234.1384, + 186.9474 + ], + "actual_end_pos": [ + -607.0303, + 234.1384, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -607.0303, + 234.1384, + 186.9474 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "actual_end_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "actual_end_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "actual_end_rot": [ + -15.0, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "start_rot": [ + -15.0, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "actual_end_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "actual_end_rot": [ + -15.0, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "start_rot": [ + -15.0, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -459.7772, + 70.9528, + 148.0129 + ], + "actual_end_pos": [ + -459.7772, + 70.9528, + 148.0129 + ], + "actual_end_rot": [ + -15.0, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -459.7772, + 70.9528, + 148.0129 + ], + "start_rot": [ + -15.0, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -459.7772, + 70.9528, + 148.0129 + ], + "actual_end_pos": [ + -459.7772, + 70.9528, + 148.0129 + ], + "actual_end_rot": [ + -15.0, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -459.7772, + 70.9528, + 148.0129 + ], + "start_rot": [ + -15.0, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "actual_end_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "actual_end_rot": [ + -15.0, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "start_rot": [ + -15.0, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "actual_end_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "actual_end_rot": [ + -15.0, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "start_rot": [ + -15.0, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "actual_end_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "actual_end_rot": [ + -15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "start_rot": [ + -15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "actual_end_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "actual_end_rot": [ + -22.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "start_rot": [ + -22.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "actual_end_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "actual_end_rot": [ + -30.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "start_rot": [ + -30.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -624.6711, + 213.3721, + 223.8948 + ], + "actual_end_pos": [ + -624.6711, + 213.3721, + 223.8948 + ], + "actual_end_rot": [ + -30.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -624.6711, + 213.3721, + 223.8948 + ], + "start_rot": [ + -30.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -624.6711, + 213.3721, + 223.8948 + ], + "actual_end_pos": [ + -624.6711, + 213.3721, + 223.8948 + ], + "actual_end_rot": [ + -30.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -624.6711, + 213.3721, + 223.8948 + ], + "start_rot": [ + -30.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "actual_end_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "actual_end_rot": [ + -30.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "start_rot": [ + -30.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "actual_end_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "actual_end_rot": [ + -37.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "start_rot": [ + -37.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "actual_end_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "actual_end_rot": [ + -37.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -581.3698, + 138.3721, + 173.8948 + ], + "start_rot": [ + -37.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "actual_end_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "actual_end_rot": [ + -37.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "start_rot": [ + -37.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "actual_end_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "actual_end_rot": [ + -37.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "start_rot": [ + -37.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "actual_end_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "actual_end_rot": [ + -37.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "start_rot": [ + -37.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "actual_end_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "actual_end_rot": [ + -30.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "start_rot": [ + -30.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "actual_end_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "actual_end_rot": [ + -22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "start_rot": [ + -22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "actual_end_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -484.7772, + 164.254, + 173.8948 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -553.0785, + 232.5553, + 199.7767 + ], + "actual_end_pos": [ + -553.0785, + 232.5553, + 199.7767 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -553.0785, + 232.5553, + 199.7767 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -621.3798, + 300.8566, + 225.6586 + ], + "actual_end_pos": [ + -621.3798, + 300.8566, + 225.6586 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -621.3798, + 300.8566, + 225.6586 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "actual_end_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "actual_end_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "actual_end_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "actual_end_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "actual_end_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "actual_end_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "actual_end_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "actual_end_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "actual_end_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "actual_end_pos": [ + -550.6691, + 371.5673, + 225.6586 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260414_132732__traj_000409_meta.json b/loop_easy/run_20260414_132732__traj_000409_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..037a118fe75c8668f10b8c4388973a9c12afa35d --- /dev/null +++ b/loop_easy/run_20260414_132732__traj_000409_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 409, + "episode_id": 0, + "state_id": 301, + "sample_index": 301, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -470.0, + 470.0, + 200.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "turn_left", + "look_up", + "move_forward", + "move_left", + "move_forward", + "move_right", + "move_forward", + "look_down", + "move_forward", + "turn_left", + "move_right", + "turn_right", + "move_forward", + "no_op", + "look_up", + "turn_right", + "move_backward", + "turn_left", + "no_op", + "turn_right", + "look_down", + "move_forward", + "turn_right", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -470.0, + 470.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -540.7107, + 540.7107, + 200.0 + ], + "actual_end_pos": [ + -540.7107, + 540.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -540.7107, + 540.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -540.7107, + 540.7107, + 200.0 + ], + "actual_end_pos": [ + -540.7107, + 540.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -540.7107, + 540.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -540.7107, + 540.7107, + 200.0 + ], + "actual_end_pos": [ + -540.7107, + 540.7107, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -540.7107, + 540.7107, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -626.5723, + 491.1384, + 213.0526 + ], + "actual_end_pos": [ + -626.5723, + 491.1384, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -626.5723, + 491.1384, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -676.5723, + 577.741, + 213.0526 + ], + "actual_end_pos": [ + -676.5723, + 577.741, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -676.5723, + 577.741, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -762.434, + 528.1687, + 226.1052 + ], + "actual_end_pos": [ + -762.434, + 528.1687, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -762.434, + 528.1687, + 226.1052 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -712.434, + 441.5662, + 226.1052 + ], + "actual_end_pos": [ + -712.434, + 441.5662, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -712.434, + 441.5662, + 226.1052 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -798.2956, + 391.9939, + 239.1579 + ], + "actual_end_pos": [ + -798.2956, + 391.9939, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -798.2956, + 391.9939, + 239.1579 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -798.2956, + 391.9939, + 239.1579 + ], + "actual_end_pos": [ + -798.2956, + 391.9939, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -798.2956, + 391.9939, + 239.1579 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -884.8981, + 341.9939, + 239.1579 + ], + "actual_end_pos": [ + -884.8981, + 341.9939, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -884.8981, + 341.9939, + 239.1579 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -884.8981, + 341.9939, + 239.1579 + ], + "actual_end_pos": [ + -884.8981, + 341.9939, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -884.8981, + 341.9939, + 239.1579 + ], + "start_rot": [ + 0.0, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -859.0162, + 245.4014, + 239.1579 + ], + "actual_end_pos": [ + -859.0162, + 245.4014, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -859.0162, + 245.4014, + 239.1579 + ], + "start_rot": [ + 0.0, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -859.0162, + 245.4014, + 239.1579 + ], + "actual_end_pos": [ + -859.0162, + 245.4014, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -859.0162, + 245.4014, + 239.1579 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -945.6188, + 195.4014, + 239.1579 + ], + "actual_end_pos": [ + -945.6188, + 195.4014, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -945.6188, + 195.4014, + 239.1579 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -945.6188, + 195.4014, + 239.1579 + ], + "actual_end_pos": [ + -945.6188, + 195.4014, + 239.1579 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -945.6188, + 195.4014, + 239.1579 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -945.6188, + 195.4014, + 239.1579 + ], + "actual_end_pos": [ + -945.6188, + 195.4014, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -945.6188, + 195.4014, + 239.1579 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -945.6188, + 195.4014, + 239.1579 + ], + "actual_end_pos": [ + -945.6188, + 195.4014, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -945.6188, + 195.4014, + 239.1579 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -875.513, + 265.5071, + 226.1052 + ], + "actual_end_pos": [ + -875.513, + 265.5071, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -875.513, + 265.5071, + 226.1052 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -875.513, + 265.5071, + 226.1052 + ], + "actual_end_pos": [ + -875.513, + 265.5071, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -875.513, + 265.5071, + 226.1052 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -875.513, + 265.5071, + 226.1052 + ], + "actual_end_pos": [ + -875.513, + 265.5071, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -875.513, + 265.5071, + 226.1052 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -875.513, + 265.5071, + 226.1052 + ], + "actual_end_pos": [ + -875.513, + 265.5071, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -875.513, + 265.5071, + 226.1052 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -875.513, + 265.5071, + 226.1052 + ], + "actual_end_pos": [ + -875.513, + 265.5071, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -875.513, + 265.5071, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -946.2237, + 194.7964, + 226.1052 + ], + "actual_end_pos": [ + -946.2237, + 194.7964, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -946.2237, + 194.7964, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -946.2237, + 194.7964, + 226.1052 + ], + "actual_end_pos": [ + -946.2237, + 194.7964, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -946.2237, + 194.7964, + 226.1052 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -946.2237, + 194.7964, + 226.1052 + ], + "actual_end_pos": [ + -946.2237, + 194.7964, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -946.2237, + 194.7964, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -875.513, + 265.5071, + 226.1052 + ], + "actual_end_pos": [ + -875.513, + 265.5071, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -875.513, + 265.5071, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -804.8024, + 336.2178, + 226.1052 + ], + "actual_end_pos": [ + -804.8024, + 336.2178, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -804.8024, + 336.2178, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -734.0917, + 406.9285, + 226.1052 + ], + "actual_end_pos": [ + -734.0917, + 406.9285, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -734.0917, + 406.9285, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -663.381, + 477.6391, + 226.1052 + ], + "actual_end_pos": [ + -663.381, + 477.6391, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -663.381, + 477.6391, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -592.6703, + 548.3498, + 226.1052 + ], + "actual_end_pos": [ + -592.6703, + 548.3498, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -592.6703, + 548.3498, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "actual_end_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "actual_end_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "actual_end_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "actual_end_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "actual_end_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "actual_end_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "actual_end_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "actual_end_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "actual_end_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "actual_end_pos": [ + -521.9597, + 477.6391, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260414_132732__traj_000602_meta.json b/loop_easy/run_20260414_132732__traj_000602_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..be5e266e56f928fe661140255bfe0b4ed080d323 --- /dev/null +++ b/loop_easy/run_20260414_132732__traj_000602_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 602, + "episode_id": 0, + "state_id": 446, + "sample_index": 446, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -270.0, + 370.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "move_left", + "move_backward", + "move_backward", + "look_up", + "move_forward", + "move_left", + "move_left", + "move_backward", + "move_right", + "move_right", + "move_forward", + "move_left", + "no_op", + "move_backward", + "move_left", + "turn_left", + "no_op", + "turn_right", + "look_down", + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -270.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -270.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -370.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -370.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -370.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -370.0, + 470.0, + 200.0 + ], + "actual_end_pos": [ + -370.0, + 470.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -370.0, + 470.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -370.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -370.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -370.0, + 570.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -370.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -370.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -370.0, + 570.0, + 200.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -370.0, + 470.8555, + 213.0526 + ], + "actual_end_pos": [ + -370.0, + 470.8555, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -370.0, + 470.8555, + 213.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -470.0, + 470.8555, + 213.0526 + ], + "actual_end_pos": [ + -470.0, + 470.8555, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -470.0, + 470.8555, + 213.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -570.0, + 470.8555, + 213.0526 + ], + "actual_end_pos": [ + -570.0, + 470.8555, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -570.0, + 470.8555, + 213.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -570.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -570.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -570.0, + 570.0, + 200.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -470.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -470.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -470.0, + 570.0, + 200.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -370.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -370.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -370.0, + 570.0, + 200.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -370.0, + 470.8555, + 213.0526 + ], + "actual_end_pos": [ + -370.0, + 470.8555, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -370.0, + 470.8555, + 213.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -470.0, + 470.8555, + 213.0526 + ], + "actual_end_pos": [ + -470.0, + 470.8555, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -470.0, + 470.8555, + 213.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -470.0, + 470.8555, + 213.0526 + ], + "actual_end_pos": [ + -470.0, + 470.8555, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -470.0, + 470.8555, + 213.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -470.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -470.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -470.0, + 570.0, + 200.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -570.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -570.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -570.0, + 570.0, + 200.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -570.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -570.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -570.0, + 570.0, + 200.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -570.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -570.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -570.0, + 570.0, + 200.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -570.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -570.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -570.0, + 570.0, + 200.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -570.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -570.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -570.0, + 570.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -570.0, + 470.0, + 200.0 + ], + "actual_end_pos": [ + -570.0, + 470.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -570.0, + 470.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -570.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -570.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -570.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -470.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -470.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -470.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -370.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -370.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -370.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -270.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -270.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -270.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -270.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -270.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -270.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -270.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -270.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -270.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -270.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -270.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -270.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -270.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -270.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -270.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -270.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260414_205421__traj_000697_meta.json b/loop_easy/run_20260414_205421__traj_000697_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d0e73e01d280f6db60d150f2bbf30d16bc1d250a --- /dev/null +++ b/loop_easy/run_20260414_205421__traj_000697_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 697, + "episode_id": 0, + "state_id": 517, + "sample_index": 517, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -170.0, + 570.0, + 200.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "look_down", + "no_op", + "look_up", + "no_op", + "turn_left", + "no_op", + "no_op", + "move_forward", + "look_up", + "move_forward", + "move_right", + "move_right", + "no_op", + "move_right", + "turn_right", + "move_forward", + "move_left", + "turn_right", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -170.0, + 570.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -170.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -170.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -170.0, + 570.0, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -170.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -170.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -170.0, + 570.0, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -170.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -170.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -170.0, + 570.0, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -170.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -170.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -170.0, + 570.0, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -170.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -170.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -170.0, + 570.0, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -170.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -170.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -170.0, + 570.0, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -170.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -170.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -170.0, + 570.0, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -170.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -170.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -170.0, + 570.0, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -266.5926, + 544.1181, + 200.0 + ], + "actual_end_pos": [ + -266.5926, + 544.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -266.5926, + 544.1181, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -266.5926, + 544.1181, + 200.0 + ], + "actual_end_pos": [ + -266.5926, + 544.1181, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -266.5926, + 544.1181, + 200.0 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -362.3588, + 518.4576, + 213.0526 + ], + "actual_end_pos": [ + -362.3588, + 518.4576, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -362.3588, + 518.4576, + 213.0526 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -336.4769, + 421.865, + 213.0526 + ], + "actual_end_pos": [ + -336.4769, + 421.865, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -336.4769, + 421.865, + 213.0526 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -310.595, + 325.2724, + 213.0526 + ], + "actual_end_pos": [ + -310.595, + 325.2724, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -310.595, + 325.2724, + 213.0526 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -310.595, + 325.2724, + 213.0526 + ], + "actual_end_pos": [ + -310.595, + 325.2724, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -310.595, + 325.2724, + 213.0526 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -284.7131, + 228.6799, + 213.0526 + ], + "actual_end_pos": [ + -284.7131, + 228.6799, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -284.7131, + 228.6799, + 213.0526 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -284.7131, + 228.6799, + 213.0526 + ], + "actual_end_pos": [ + -284.7131, + 228.6799, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -284.7131, + 228.6799, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -370.5747, + 179.1076, + 226.1052 + ], + "actual_end_pos": [ + -370.5747, + 179.1076, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -370.5747, + 179.1076, + 226.1052 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -420.5747, + 265.7102, + 226.1052 + ], + "actual_end_pos": [ + -420.5747, + 265.7102, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -420.5747, + 265.7102, + 226.1052 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -420.5747, + 265.7102, + 226.1052 + ], + "actual_end_pos": [ + -420.5747, + 265.7102, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -420.5747, + 265.7102, + 226.1052 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -420.5747, + 265.7102, + 226.1052 + ], + "actual_end_pos": [ + -420.5747, + 265.7102, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -420.5747, + 265.7102, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -349.864, + 336.4208, + 226.1052 + ], + "actual_end_pos": [ + -349.864, + 336.4208, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -349.864, + 336.4208, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -279.1534, + 407.1315, + 226.1052 + ], + "actual_end_pos": [ + -279.1534, + 407.1315, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -279.1534, + 407.1315, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -208.4427, + 477.8422, + 226.1052 + ], + "actual_end_pos": [ + -208.4427, + 477.8422, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -208.4427, + 477.8422, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_pos": [ + -137.732, + 548.5529, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260414_205421__traj_000994_meta.json b/loop_easy/run_20260414_205421__traj_000994_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8f6f9bf8b3bb7759620a3d6487ec9925fb7f3ec5 --- /dev/null +++ b/loop_easy/run_20260414_205421__traj_000994_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 994, + "episode_id": 0, + "state_id": 727, + "sample_index": 727, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 130.0, + 70.0, + 200.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "no_op", + "move_backward", + "move_right", + "no_op", + "move_backward", + "move_left", + "move_left", + "move_forward", + "move_right", + "move_backward", + "move_right", + "move_right", + "move_forward", + "move_backward", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 200.7107, + -0.7107, + 200.0 + ], + "actual_end_pos": [ + 200.7107, + -0.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 200.7107, + -0.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 271.4214, + -71.4214, + 200.0 + ], + "actual_end_pos": [ + 271.4214, + -71.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 271.4214, + -71.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 271.4214, + -71.4214, + 200.0 + ], + "actual_end_pos": [ + 271.4214, + -71.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 271.4214, + -71.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 200.7107, + -0.7107, + 200.0 + ], + "actual_end_pos": [ + 200.7107, + -0.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 200.7107, + -0.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 271.4214, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 271.4214, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 271.4214, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 271.4214, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 271.4214, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 271.4214, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 200.7107, + 140.7107, + 200.0 + ], + "actual_end_pos": [ + 200.7107, + 140.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 200.7107, + 140.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 59.2893, + -0.7107, + 200.0 + ], + "actual_end_pos": [ + 59.2893, + -0.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 59.2893, + -0.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + -71.4214, + 200.0 + ], + "actual_end_pos": [ + 130.0, + -71.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 130.0, + -71.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 200.7107, + -0.7107, + 200.0 + ], + "actual_end_pos": [ + 200.7107, + -0.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 200.7107, + -0.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 200.7107, + 140.7107, + 200.0 + ], + "actual_end_pos": [ + 200.7107, + 140.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 200.7107, + 140.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 271.4214, + 211.4214, + 200.0 + ], + "actual_end_pos": [ + 271.4214, + 211.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 271.4214, + 211.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 342.132, + 140.7107, + 200.0 + ], + "actual_end_pos": [ + 342.132, + 140.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 342.132, + 140.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 271.4214, + 211.4214, + 200.0 + ], + "actual_end_pos": [ + 271.4214, + 211.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 271.4214, + 211.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 200.7107, + 140.7107, + 200.0 + ], + "actual_end_pos": [ + 200.7107, + 140.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 200.7107, + 140.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 130.0, + 70.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + 70.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260414_205421__traj_001140_meta.json b/loop_easy/run_20260414_205421__traj_001140_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..66ba3b59fbabbce43f12eb6921b3519a68f84a2a --- /dev/null +++ b/loop_easy/run_20260414_205421__traj_001140_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1140, + "episode_id": 0, + "state_id": 836, + "sample_index": 836, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 230.0, + 570.0, + 200.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "look_down", + "move_forward", + "turn_left", + "look_up", + "turn_right", + "move_backward", + "move_right", + "look_up", + "turn_right", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "move_left", + "no_op", + "turn_left", + "turn_left", + "turn_left", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 230.0, + 570.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 230.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + 230.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 230.0, + 570.0, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 230.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + 230.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 230.0, + 570.0, + 200.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 134.2338, + 544.3395, + 186.9474 + ], + "actual_end_pos": [ + 134.2338, + 544.3395, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 134.2338, + 544.3395, + 186.9474 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 134.2338, + 544.3395, + 186.9474 + ], + "actual_end_pos": [ + 134.2338, + 544.3395, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 134.2338, + 544.3395, + 186.9474 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 134.2338, + 544.3395, + 186.9474 + ], + "actual_end_pos": [ + 134.2338, + 544.3395, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 134.2338, + 544.3395, + 186.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 134.2338, + 544.3395, + 186.9474 + ], + "actual_end_pos": [ + 134.2338, + 544.3395, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 134.2338, + 544.3395, + 186.9474 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 230.8264, + 570.2214, + 186.9474 + ], + "actual_end_pos": [ + 230.8264, + 570.2214, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 230.8264, + 570.2214, + 186.9474 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 256.7083, + 473.6288, + 186.9474 + ], + "actual_end_pos": [ + 256.7083, + 473.6288, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 256.7083, + 473.6288, + 186.9474 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 256.7083, + 473.6288, + 186.9474 + ], + "actual_end_pos": [ + 256.7083, + 473.6288, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 256.7083, + 473.6288, + 186.9474 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 256.7083, + 473.6288, + 186.9474 + ], + "actual_end_pos": [ + 256.7083, + 473.6288, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 256.7083, + 473.6288, + 186.9474 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 306.7083, + 387.0263, + 186.9474 + ], + "actual_end_pos": [ + 306.7083, + 387.0263, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 306.7083, + 387.0263, + 186.9474 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 220.8466, + 337.4541, + 200.0 + ], + "actual_end_pos": [ + 220.8466, + 337.4541, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 220.8466, + 337.4541, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 134.985, + 287.8818, + 213.0526 + ], + "actual_end_pos": [ + 134.985, + 287.8818, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 134.985, + 287.8818, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 49.1233, + 238.3096, + 226.1052 + ], + "actual_end_pos": [ + 49.1233, + 238.3096, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 49.1233, + 238.3096, + 226.1052 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 49.1233, + 238.3096, + 226.1052 + ], + "actual_end_pos": [ + 49.1233, + 238.3096, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 49.1233, + 238.3096, + 226.1052 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -21.5873, + 309.0202, + 226.1052 + ], + "actual_end_pos": [ + -21.5873, + 309.0202, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -21.5873, + 309.0202, + 226.1052 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -21.5873, + 309.0202, + 226.1052 + ], + "actual_end_pos": [ + -21.5873, + 309.0202, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -21.5873, + 309.0202, + 226.1052 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -21.5873, + 309.0202, + 226.1052 + ], + "actual_end_pos": [ + -21.5873, + 309.0202, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -21.5873, + 309.0202, + 226.1052 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -21.5873, + 309.0202, + 226.1052 + ], + "actual_end_pos": [ + -21.5873, + 309.0202, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -21.5873, + 309.0202, + 226.1052 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -21.5873, + 309.0202, + 226.1052 + ], + "actual_end_pos": [ + -21.5873, + 309.0202, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -21.5873, + 309.0202, + 226.1052 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -21.5873, + 309.0202, + 226.1052 + ], + "actual_end_pos": [ + -21.5873, + 309.0202, + 226.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -21.5873, + 309.0202, + 226.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 78.4127, + 309.0202, + 226.1052 + ], + "actual_end_pos": [ + 78.4127, + 309.0202, + 226.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 78.4127, + 309.0202, + 226.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 178.4127, + 309.0202, + 226.1052 + ], + "actual_end_pos": [ + 178.4127, + 309.0202, + 226.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 178.4127, + 309.0202, + 226.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 278.4127, + 309.0202, + 226.1052 + ], + "actual_end_pos": [ + 278.4127, + 309.0202, + 226.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 278.4127, + 309.0202, + 226.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 278.4127, + 409.0202, + 226.1052 + ], + "actual_end_pos": [ + 278.4127, + 409.0202, + 226.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 278.4127, + 409.0202, + 226.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 278.4127, + 509.0202, + 226.1052 + ], + "actual_end_pos": [ + 278.4127, + 509.0202, + 226.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 278.4127, + 509.0202, + 226.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "start_rot": [ + -0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_pos": [ + 278.4127, + 609.0202, + 226.1052 + ], + "actual_end_rot": [ + -0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260415_212208__traj_000016_meta.json b/loop_easy/run_20260415_212208__traj_000016_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6b1f3b20b5cd5a4e027be28dc810be1f5b4f12b4 --- /dev/null +++ b/loop_easy/run_20260415_212208__traj_000016_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 16, + "episode_id": 0, + "state_id": 14, + "sample_index": 14, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -28640.0, + -24840.0, + 800.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_backward", + "move_right", + "move_backward", + "move_right", + "look_down", + "move_forward", + "look_down", + "turn_left", + "move_right", + "look_down", + "turn_left", + "move_left", + "turn_right", + "move_backward", + "turn_left", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "turn_right", + "look_up", + "look_up", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28640.0, + -24840.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28640.0, + -24940.0, + 800.0 + ], + "actual_end_pos": [ + -28640.0, + -24940.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -28640.0, + -24940.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28640.0, + -24940.0, + 800.0 + ], + "actual_end_pos": [ + -28640.0, + -24940.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -28640.0, + -24940.0, + 800.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -28640.0, + -24940.0, + 800.0 + ], + "actual_end_pos": [ + -28640.0, + -24940.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28640.0, + -24940.0, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -28726.6025, + -24890.0, + 800.0 + ], + "actual_end_pos": [ + -28726.6025, + -24890.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28726.6025, + -24890.0, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -28813.2051, + -24840.0, + 800.0 + ], + "actual_end_pos": [ + -28813.2051, + -24840.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28813.2051, + -24840.0, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -28763.2051, + -24753.3975, + 800.0 + ], + "actual_end_pos": [ + -28763.2051, + -24753.3975, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28763.2051, + -24753.3975, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -28676.6025, + -24803.3975, + 800.0 + ], + "actual_end_pos": [ + -28676.6025, + -24803.3975, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28676.6025, + -24803.3975, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -28626.6025, + -24716.7949, + 800.0 + ], + "actual_end_pos": [ + -28626.6025, + -24716.7949, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28626.6025, + -24716.7949, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -28540.0, + -24766.7949, + 800.0 + ], + "actual_end_pos": [ + -28540.0, + -24766.7949, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -28540.0, + -24766.7949, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -28540.0, + -24766.7949, + 800.0 + ], + "actual_end_pos": [ + -28540.0, + -24766.7949, + 800.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28540.0, + -24766.7949, + 800.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -28589.5722, + -24852.6566, + 786.9474 + ], + "actual_end_pos": [ + -28589.5722, + -24852.6566, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -28589.5722, + -24852.6566, + 786.9474 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -28589.5722, + -24852.6566, + 786.9474 + ], + "actual_end_pos": [ + -28589.5722, + -24852.6566, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -28589.5722, + -24852.6566, + 786.9474 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -28589.5722, + -24852.6566, + 786.9474 + ], + "actual_end_pos": [ + -28589.5722, + -24852.6566, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28589.5722, + -24852.6566, + 786.9474 + ], + "start_rot": [ + -15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -28518.8616, + -24923.3672, + 786.9474 + ], + "actual_end_pos": [ + -28518.8616, + -24923.3672, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -28518.8616, + -24923.3672, + 786.9474 + ], + "start_rot": [ + -15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -28518.8616, + -24923.3672, + 786.9474 + ], + "actual_end_pos": [ + -28518.8616, + -24923.3672, + 786.9474 + ], + "actual_end_rot": [ + -22.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -28518.8616, + -24923.3672, + 786.9474 + ], + "start_rot": [ + -22.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -28518.8616, + -24923.3672, + 786.9474 + ], + "actual_end_pos": [ + -28518.8616, + -24923.3672, + 786.9474 + ], + "actual_end_rot": [ + -22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28518.8616, + -24923.3672, + 786.9474 + ], + "start_rot": [ + -22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -28568.8616, + -24836.7647, + 786.9474 + ], + "actual_end_pos": [ + -28568.8616, + -24836.7647, + 786.9474 + ], + "actual_end_rot": [ + -22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -28568.8616, + -24836.7647, + 786.9474 + ], + "start_rot": [ + -22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -28568.8616, + -24836.7647, + 786.9474 + ], + "actual_end_pos": [ + -28568.8616, + -24836.7647, + 786.9474 + ], + "actual_end_rot": [ + -22.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28568.8616, + -24836.7647, + 786.9474 + ], + "start_rot": [ + -22.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -28503.5334, + -24771.4366, + 825.2157 + ], + "actual_end_pos": [ + -28503.5334, + -24771.4366, + 825.2157 + ], + "actual_end_rot": [ + -22.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -28503.5334, + -24771.4366, + 825.2157 + ], + "start_rot": [ + -22.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -28503.5334, + -24771.4366, + 825.2157 + ], + "actual_end_pos": [ + -28503.5334, + -24771.4366, + 825.2157 + ], + "actual_end_rot": [ + -22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28503.5334, + -24771.4366, + 825.2157 + ], + "start_rot": [ + -22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -28583.5437, + -24817.6305, + 786.9474 + ], + "actual_end_pos": [ + -28583.5437, + -24817.6305, + 786.9474 + ], + "actual_end_rot": [ + -22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28583.5437, + -24817.6305, + 786.9474 + ], + "start_rot": [ + -22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -28663.554, + -24863.8245, + 748.679 + ], + "actual_end_pos": [ + -28663.554, + -24863.8245, + 748.679 + ], + "actual_end_rot": [ + -22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -28663.554, + -24863.8245, + 748.679 + ], + "start_rot": [ + -22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -28663.554, + -24863.8245, + 748.679 + ], + "actual_end_pos": [ + -28663.554, + -24863.8245, + 748.679 + ], + "actual_end_rot": [ + -22.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -28663.554, + -24863.8245, + 748.679 + ], + "start_rot": [ + -22.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -28663.554, + -24863.8245, + 748.679 + ], + "actual_end_pos": [ + -28663.554, + -24863.8245, + 748.679 + ], + "actual_end_rot": [ + -22.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -28663.554, + -24863.8245, + 748.679 + ], + "start_rot": [ + -22.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -28663.554, + -24863.8245, + 748.679 + ], + "actual_end_pos": [ + -28663.554, + -24863.8245, + 748.679 + ], + "actual_end_rot": [ + -22.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28663.554, + -24863.8245, + 748.679 + ], + "start_rot": [ + -22.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -28566.9615, + -24889.7064, + 748.679 + ], + "actual_end_pos": [ + -28566.9615, + -24889.7064, + 748.679 + ], + "actual_end_rot": [ + -22.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -28566.9615, + -24889.7064, + 748.679 + ], + "start_rot": [ + -22.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -28566.9615, + -24889.7064, + 748.679 + ], + "actual_end_pos": [ + -28566.9615, + -24889.7064, + 748.679 + ], + "actual_end_rot": [ + -22.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -28566.9615, + -24889.7064, + 748.679 + ], + "start_rot": [ + -22.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28566.9615, + -24889.7064, + 748.679 + ], + "actual_end_pos": [ + -28566.9615, + -24889.7064, + 748.679 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -28566.9615, + -24889.7064, + 748.679 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28566.9615, + -24889.7064, + 748.679 + ], + "actual_end_pos": [ + -28566.9615, + -24889.7064, + 748.679 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28566.9615, + -24889.7064, + 748.679 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_pos": [ + -28666.9615, + -24889.7064, + 748.679 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260415_212208__traj_000323_meta.json b/loop_easy/run_20260415_212208__traj_000323_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fa466ef93bc1f76b708075872eccd35fe7895efc --- /dev/null +++ b/loop_easy/run_20260415_212208__traj_000323_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 323, + "episode_id": 0, + "state_id": 249, + "sample_index": 249, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -28240.0, + -21240.0, + 800.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "move_backward", + "move_right", + "move_right", + "move_right", + "look_up", + "move_forward", + "move_right", + "look_down", + "turn_left", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_right", + "move_backward", + "move_left", + "move_backward", + "no_op", + "move_forward", + "look_down", + "turn_right", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28240.0, + -21240.0, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28240.0, + -21240.0, + 800.0 + ], + "actual_end_pos": [ + -28240.0, + -21240.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28240.0, + -21240.0, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28310.7107, + -21310.7107, + 800.0 + ], + "actual_end_pos": [ + -28310.7107, + -21310.7107, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28310.7107, + -21310.7107, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28381.4214, + -21240.0, + 800.0 + ], + "actual_end_pos": [ + -28381.4214, + -21240.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28381.4214, + -21240.0, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28452.132, + -21169.2893, + 800.0 + ], + "actual_end_pos": [ + -28452.132, + -21169.2893, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28452.132, + -21169.2893, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28522.8427, + -21098.5786, + 800.0 + ], + "actual_end_pos": [ + -28522.8427, + -21098.5786, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -28522.8427, + -21098.5786, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28522.8427, + -21098.5786, + 800.0 + ], + "actual_end_pos": [ + -28522.8427, + -21098.5786, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28522.8427, + -21098.5786, + 800.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28452.737, + -21028.4729, + 813.0526 + ], + "actual_end_pos": [ + -28452.737, + -21028.4729, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28452.737, + -21028.4729, + 813.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28523.4477, + -20957.7622, + 813.0526 + ], + "actual_end_pos": [ + -28523.4477, + -20957.7622, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -28523.4477, + -20957.7622, + 813.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28523.4477, + -20957.7622, + 813.0526 + ], + "actual_end_pos": [ + -28523.4477, + -20957.7622, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -28523.4477, + -20957.7622, + 813.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28523.4477, + -20957.7622, + 813.0526 + ], + "actual_end_pos": [ + -28523.4477, + -20957.7622, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28523.4477, + -20957.7622, + 813.0526 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -28573.4477, + -20871.1597, + 813.0526 + ], + "actual_end_pos": [ + -28573.4477, + -20871.1597, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28573.4477, + -20871.1597, + 813.0526 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -28486.8451, + -20821.1597, + 813.0526 + ], + "actual_end_pos": [ + -28486.8451, + -20821.1597, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28486.8451, + -20821.1597, + 813.0526 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -28400.2426, + -20771.1597, + 813.0526 + ], + "actual_end_pos": [ + -28400.2426, + -20771.1597, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28400.2426, + -20771.1597, + 813.0526 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -28313.64, + -20721.1597, + 813.0526 + ], + "actual_end_pos": [ + -28313.64, + -20721.1597, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28313.64, + -20721.1597, + 813.0526 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -28363.64, + -20634.5571, + 813.0526 + ], + "actual_end_pos": [ + -28363.64, + -20634.5571, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28363.64, + -20634.5571, + 813.0526 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -28413.64, + -20547.9546, + 813.0526 + ], + "actual_end_pos": [ + -28413.64, + -20547.9546, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28413.64, + -20547.9546, + 813.0526 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -28463.64, + -20461.3521, + 813.0526 + ], + "actual_end_pos": [ + -28463.64, + -20461.3521, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28463.64, + -20461.3521, + 813.0526 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -28550.2426, + -20511.3521, + 813.0526 + ], + "actual_end_pos": [ + -28550.2426, + -20511.3521, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28550.2426, + -20511.3521, + 813.0526 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -28500.2426, + -20597.9546, + 813.0526 + ], + "actual_end_pos": [ + -28500.2426, + -20597.9546, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28500.2426, + -20597.9546, + 813.0526 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -28586.8451, + -20647.9546, + 813.0526 + ], + "actual_end_pos": [ + -28586.8451, + -20647.9546, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28586.8451, + -20647.9546, + 813.0526 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -28586.8451, + -20647.9546, + 813.0526 + ], + "actual_end_pos": [ + -28586.8451, + -20647.9546, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28586.8451, + -20647.9546, + 813.0526 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -28500.2426, + -20597.9546, + 813.0526 + ], + "actual_end_pos": [ + -28500.2426, + -20597.9546, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -28500.2426, + -20597.9546, + 813.0526 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -28500.2426, + -20597.9546, + 813.0526 + ], + "actual_end_pos": [ + -28500.2426, + -20597.9546, + 813.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -28500.2426, + -20597.9546, + 813.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -28500.2426, + -20597.9546, + 813.0526 + ], + "actual_end_pos": [ + -28500.2426, + -20597.9546, + 813.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -28500.2426, + -20597.9546, + 813.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28500.2426, + -20597.9546, + 813.0526 + ], + "actual_end_pos": [ + -28500.2426, + -20597.9546, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28500.2426, + -20597.9546, + 813.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28570.9532, + -20668.6653, + 813.0526 + ], + "actual_end_pos": [ + -28570.9532, + -20668.6653, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28570.9532, + -20668.6653, + 813.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28641.6639, + -20739.376, + 813.0526 + ], + "actual_end_pos": [ + -28641.6639, + -20739.376, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28641.6639, + -20739.376, + 813.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28712.3746, + -20810.0866, + 813.0526 + ], + "actual_end_pos": [ + -28712.3746, + -20810.0866, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28712.3746, + -20810.0866, + 813.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28641.6639, + -20880.7973, + 813.0526 + ], + "actual_end_pos": [ + -28641.6639, + -20880.7973, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28641.6639, + -20880.7973, + 813.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28570.9532, + -20951.508, + 813.0526 + ], + "actual_end_pos": [ + -28570.9532, + -20951.508, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28570.9532, + -20951.508, + 813.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28500.2426, + -21022.2187, + 813.0526 + ], + "actual_end_pos": [ + -28500.2426, + -21022.2187, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28500.2426, + -21022.2187, + 813.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28429.5319, + -21092.9294, + 813.0526 + ], + "actual_end_pos": [ + -28429.5319, + -21092.9294, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28429.5319, + -21092.9294, + 813.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28358.8212, + -21163.64, + 813.0526 + ], + "actual_end_pos": [ + -28358.8212, + -21163.64, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28358.8212, + -21163.64, + 813.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28288.1105, + -21234.3507, + 813.0526 + ], + "actual_end_pos": [ + -28288.1105, + -21234.3507, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28288.1105, + -21234.3507, + 813.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28288.1105, + -21234.3507, + 813.0526 + ], + "actual_end_pos": [ + -28288.1105, + -21234.3507, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28288.1105, + -21234.3507, + 813.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28288.1105, + -21234.3507, + 813.0526 + ], + "actual_end_pos": [ + -28288.1105, + -21234.3507, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28288.1105, + -21234.3507, + 813.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28288.1105, + -21234.3507, + 813.0526 + ], + "actual_end_pos": [ + -28288.1105, + -21234.3507, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28288.1105, + -21234.3507, + 813.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28288.1105, + -21234.3507, + 813.0526 + ], + "actual_end_pos": [ + -28288.1105, + -21234.3507, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28288.1105, + -21234.3507, + 813.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28288.1105, + -21234.3507, + 813.0526 + ], + "actual_end_pos": [ + -28288.1105, + -21234.3507, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28288.1105, + -21234.3507, + 813.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -28288.1105, + -21234.3507, + 813.0526 + ], + "actual_end_pos": [ + -28288.1105, + -21234.3507, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260415_212208__traj_000463_meta.json b/loop_easy/run_20260415_212208__traj_000463_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..12ac81571d3cb1013af06968f48fcb6015a62d51 --- /dev/null +++ b/loop_easy/run_20260415_212208__traj_000463_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 463, + "episode_id": 0, + "state_id": 346, + "sample_index": 346, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -27840.0, + -24440.0, + 800.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_left", + "turn_left", + "move_forward", + "turn_left", + "move_forward", + "move_right", + "move_forward", + "turn_right", + "move_forward", + "move_left", + "move_forward", + "look_down", + "look_down", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "look_up", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -27840.0, + -24440.0, + 800.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27840.0, + -24440.0, + 800.0 + ], + "actual_end_pos": [ + -27840.0, + -24440.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -27840.0, + -24440.0, + 800.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -27743.4074, + -24465.8819, + 800.0 + ], + "actual_end_pos": [ + -27743.4074, + -24465.8819, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -27743.4074, + -24465.8819, + 800.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -27743.4074, + -24465.8819, + 800.0 + ], + "actual_end_pos": [ + -27743.4074, + -24465.8819, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -27743.4074, + -24465.8819, + 800.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -27693.4074, + -24379.2794, + 800.0 + ], + "actual_end_pos": [ + -27693.4074, + -24379.2794, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -27693.4074, + -24379.2794, + 800.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -27693.4074, + -24379.2794, + 800.0 + ], + "actual_end_pos": [ + -27693.4074, + -24379.2794, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -27693.4074, + -24379.2794, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -27622.6967, + -24308.5687, + 800.0 + ], + "actual_end_pos": [ + -27622.6967, + -24308.5687, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -27622.6967, + -24308.5687, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -27693.4074, + -24237.858, + 800.0 + ], + "actual_end_pos": [ + -27693.4074, + -24237.858, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -27693.4074, + -24237.858, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -27622.6967, + -24167.1473, + 800.0 + ], + "actual_end_pos": [ + -27622.6967, + -24167.1473, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -27622.6967, + -24167.1473, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -27622.6967, + -24167.1473, + 800.0 + ], + "actual_end_pos": [ + -27622.6967, + -24167.1473, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -27622.6967, + -24167.1473, + 800.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -27572.6967, + -24080.5448, + 800.0 + ], + "actual_end_pos": [ + -27572.6967, + -24080.5448, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -27572.6967, + -24080.5448, + 800.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -27486.0942, + -24130.5448, + 800.0 + ], + "actual_end_pos": [ + -27486.0942, + -24130.5448, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -27486.0942, + -24130.5448, + 800.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -27436.0942, + -24043.9423, + 800.0 + ], + "actual_end_pos": [ + -27436.0942, + -24043.9423, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -27436.0942, + -24043.9423, + 800.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -27436.0942, + -24043.9423, + 800.0 + ], + "actual_end_pos": [ + -27436.0942, + -24043.9423, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -27436.0942, + -24043.9423, + 800.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + -27436.0942, + -24043.9423, + 800.0 + ], + "actual_end_pos": [ + -27436.0942, + -24043.9423, + 800.0 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -27436.0942, + -24043.9423, + 800.0 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -27387.7979, + -23960.2906, + 774.1181 + ], + "actual_end_pos": [ + -27387.7979, + -23960.2906, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -27387.7979, + -23960.2906, + 774.1181 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -27339.5016, + -23876.639, + 748.2362 + ], + "actual_end_pos": [ + -27339.5016, + -23876.639, + 748.2362 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -27339.5016, + -23876.639, + 748.2362 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -27339.5016, + -23876.639, + 748.2362 + ], + "actual_end_pos": [ + -27339.5016, + -23876.639, + 748.2362 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -27339.5016, + -23876.639, + 748.2362 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -27339.5016, + -23876.639, + 748.2362 + ], + "actual_end_pos": [ + -27339.5016, + -23876.639, + 748.2362 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -27339.5016, + -23876.639, + 748.2362 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27339.5016, + -23876.639, + 748.2362 + ], + "actual_end_pos": [ + -27339.5016, + -23876.639, + 748.2362 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -27339.5016, + -23876.639, + 748.2362 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27339.5016, + -23975.7835, + 761.2888 + ], + "actual_end_pos": [ + -27339.5016, + -23975.7835, + 761.2888 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -27339.5016, + -23975.7835, + 761.2888 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27339.5016, + -24074.928, + 774.3414 + ], + "actual_end_pos": [ + -27339.5016, + -24074.928, + 774.3414 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -27339.5016, + -24074.928, + 774.3414 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27339.5016, + -24174.0725, + 787.394 + ], + "actual_end_pos": [ + -27339.5016, + -24174.0725, + 787.394 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -27339.5016, + -24174.0725, + 787.394 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27339.5016, + -24273.2169, + 800.4467 + ], + "actual_end_pos": [ + -27339.5016, + -24273.2169, + 800.4467 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -27339.5016, + -24273.2169, + 800.4467 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27339.5016, + -24372.3614, + 813.4993 + ], + "actual_end_pos": [ + -27339.5016, + -24372.3614, + 813.4993 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -27339.5016, + -24372.3614, + 813.4993 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27339.5016, + -24471.5059, + 826.5519 + ], + "actual_end_pos": [ + -27339.5016, + -24471.5059, + 826.5519 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -27339.5016, + -24471.5059, + 826.5519 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27439.5016, + -24471.5059, + 826.5519 + ], + "actual_end_pos": [ + -27439.5016, + -24471.5059, + 826.5519 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -27439.5016, + -24471.5059, + 826.5519 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27539.5016, + -24471.5059, + 826.5519 + ], + "actual_end_pos": [ + -27539.5016, + -24471.5059, + 826.5519 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -27539.5016, + -24471.5059, + 826.5519 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27639.5016, + -24471.5059, + 826.5519 + ], + "actual_end_pos": [ + -27639.5016, + -24471.5059, + 826.5519 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -27639.5016, + -24471.5059, + 826.5519 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27739.5016, + -24471.5059, + 826.5519 + ], + "actual_end_pos": [ + -27739.5016, + -24471.5059, + 826.5519 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -27739.5016, + -24471.5059, + 826.5519 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_pos": [ + -27839.5016, + -24471.5059, + 826.5519 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260415_212208__traj_000553_meta.json b/loop_easy/run_20260415_212208__traj_000553_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d01a3f1bcf05b633c47f04a24b9aef8f3f836706 --- /dev/null +++ b/loop_easy/run_20260415_212208__traj_000553_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 553, + "episode_id": 0, + "state_id": 410, + "sample_index": 410, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -27840.0, + -20840.0, + 800.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "move_right", + "move_backward", + "move_right", + "move_right", + "no_op", + "move_right", + "move_backward", + "move_right", + "move_backward", + "move_left", + "turn_right", + "move_left", + "move_forward", + "move_right", + "move_left", + "move_forward", + "turn_left", + "no_op", + "turn_left", + "move_right", + "turn_right", + "move_forward", + "look_down", + "move_left", + "turn_right", + "move_forward", + "turn_left", + "look_up", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -27840.0, + -20840.0, + 800.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27840.0, + -20840.0, + 800.0 + ], + "actual_end_pos": [ + -27840.0, + -20840.0, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -27840.0, + -20840.0, + 800.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27940.0, + -20840.0, + 800.0 + ], + "actual_end_pos": [ + -27940.0, + -20840.0, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -27940.0, + -20840.0, + 800.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27940.0, + -20939.1445, + 813.0526 + ], + "actual_end_pos": [ + -27940.0, + -20939.1445, + 813.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -27940.0, + -20939.1445, + 813.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -28040.0, + -20939.1445, + 813.0526 + ], + "actual_end_pos": [ + -28040.0, + -20939.1445, + 813.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28040.0, + -20939.1445, + 813.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -28140.0, + -20939.1445, + 813.0526 + ], + "actual_end_pos": [ + -28140.0, + -20939.1445, + 813.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28140.0, + -20939.1445, + 813.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -28140.0, + -20939.1445, + 813.0526 + ], + "actual_end_pos": [ + -28140.0, + -20939.1445, + 813.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28140.0, + -20939.1445, + 813.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -28240.0, + -20939.1445, + 813.0526 + ], + "actual_end_pos": [ + -28240.0, + -20939.1445, + 813.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28240.0, + -20939.1445, + 813.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -28240.0, + -21038.289, + 826.1052 + ], + "actual_end_pos": [ + -28240.0, + -21038.289, + 826.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28240.0, + -21038.289, + 826.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -28340.0, + -21038.289, + 826.1052 + ], + "actual_end_pos": [ + -28340.0, + -21038.289, + 826.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28340.0, + -21038.289, + 826.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -28340.0, + -21137.4335, + 839.1579 + ], + "actual_end_pos": [ + -28340.0, + -21137.4335, + 839.1579 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28340.0, + -21137.4335, + 839.1579 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -28240.0, + -21137.4335, + 839.1579 + ], + "actual_end_pos": [ + -28240.0, + -21137.4335, + 839.1579 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -28240.0, + -21137.4335, + 839.1579 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -28240.0, + -21137.4335, + 839.1579 + ], + "actual_end_pos": [ + -28240.0, + -21137.4335, + 839.1579 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28240.0, + -21137.4335, + 839.1579 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -28143.4074, + -21111.5516, + 839.1579 + ], + "actual_end_pos": [ + -28143.4074, + -21111.5516, + 839.1579 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28143.4074, + -21111.5516, + 839.1579 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -28169.0679, + -21015.7853, + 826.1052 + ], + "actual_end_pos": [ + -28169.0679, + -21015.7853, + 826.1052 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28169.0679, + -21015.7853, + 826.1052 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -28265.6605, + -21041.6672, + 826.1052 + ], + "actual_end_pos": [ + -28265.6605, + -21041.6672, + 826.1052 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28265.6605, + -21041.6672, + 826.1052 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -28169.0679, + -21015.7853, + 826.1052 + ], + "actual_end_pos": [ + -28169.0679, + -21015.7853, + 826.1052 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28169.0679, + -21015.7853, + 826.1052 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -28194.7284, + -20920.0191, + 813.0526 + ], + "actual_end_pos": [ + -28194.7284, + -20920.0191, + 813.0526 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -28194.7284, + -20920.0191, + 813.0526 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -28194.7284, + -20920.0191, + 813.0526 + ], + "actual_end_pos": [ + -28194.7284, + -20920.0191, + 813.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28194.7284, + -20920.0191, + 813.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -28194.7284, + -20920.0191, + 813.0526 + ], + "actual_end_pos": [ + -28194.7284, + -20920.0191, + 813.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -28194.7284, + -20920.0191, + 813.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -28194.7284, + -20920.0191, + 813.0526 + ], + "actual_end_pos": [ + -28194.7284, + -20920.0191, + 813.0526 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28194.7284, + -20920.0191, + 813.0526 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -28291.321, + -20894.1372, + 813.0526 + ], + "actual_end_pos": [ + -28291.321, + -20894.1372, + 813.0526 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -28291.321, + -20894.1372, + 813.0526 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -28291.321, + -20894.1372, + 813.0526 + ], + "actual_end_pos": [ + -28291.321, + -20894.1372, + 813.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28291.321, + -20894.1372, + 813.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -28291.321, + -20794.9927, + 800.0 + ], + "actual_end_pos": [ + -28291.321, + -20794.9927, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -28291.321, + -20794.9927, + 800.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -28291.321, + -20794.9927, + 800.0 + ], + "actual_end_pos": [ + -28291.321, + -20794.9927, + 800.0 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28291.321, + -20794.9927, + 800.0 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -28191.321, + -20794.9927, + 800.0 + ], + "actual_end_pos": [ + -28191.321, + -20794.9927, + 800.0 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -28191.321, + -20794.9927, + 800.0 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -28191.321, + -20794.9927, + 800.0 + ], + "actual_end_pos": [ + -28191.321, + -20794.9927, + 800.0 + ], + "actual_end_rot": [ + -15.0, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28191.321, + -20794.9927, + 800.0 + ], + "start_rot": [ + -15.0, + 105.0, + -0.0 + ], + "expected_end_pos": [ + -28216.321, + -20701.6914, + 774.1181 + ], + "actual_end_pos": [ + -28216.321, + -20701.6914, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -28216.321, + -20701.6914, + 774.1181 + ], + "start_rot": [ + -15.0, + 105.0, + -0.0 + ], + "expected_end_pos": [ + -28216.321, + -20701.6914, + 774.1181 + ], + "actual_end_pos": [ + -28216.321, + -20701.6914, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -28216.321, + -20701.6914, + 774.1181 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -28216.321, + -20701.6914, + 774.1181 + ], + "actual_end_pos": [ + -28216.321, + -20701.6914, + 774.1181 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28216.321, + -20701.6914, + 774.1181 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -28216.321, + -20800.8359, + 787.1707 + ], + "actual_end_pos": [ + -28216.321, + -20800.8359, + 787.1707 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28216.321, + -20800.8359, + 787.1707 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -28116.321, + -20800.8359, + 787.1707 + ], + "actual_end_pos": [ + -28116.321, + -20800.8359, + 787.1707 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28116.321, + -20800.8359, + 787.1707 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -28016.321, + -20800.8359, + 787.1707 + ], + "actual_end_pos": [ + -28016.321, + -20800.8359, + 787.1707 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28016.321, + -20800.8359, + 787.1707 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27916.321, + -20800.8359, + 787.1707 + ], + "actual_end_pos": [ + -27916.321, + -20800.8359, + 787.1707 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -27916.321, + -20800.8359, + 787.1707 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27816.321, + -20800.8359, + 787.1707 + ], + "actual_end_pos": [ + -27816.321, + -20800.8359, + 787.1707 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27816.321, + -20800.8359, + 787.1707 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27816.321, + -20800.8359, + 787.1707 + ], + "actual_end_pos": [ + -27816.321, + -20800.8359, + 787.1707 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27816.321, + -20800.8359, + 787.1707 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27816.321, + -20800.8359, + 787.1707 + ], + "actual_end_pos": [ + -27816.321, + -20800.8359, + 787.1707 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27816.321, + -20800.8359, + 787.1707 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27816.321, + -20800.8359, + 787.1707 + ], + "actual_end_pos": [ + -27816.321, + -20800.8359, + 787.1707 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27816.321, + -20800.8359, + 787.1707 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27816.321, + -20800.8359, + 787.1707 + ], + "actual_end_pos": [ + -27816.321, + -20800.8359, + 787.1707 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27816.321, + -20800.8359, + 787.1707 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27816.321, + -20800.8359, + 787.1707 + ], + "actual_end_pos": [ + -27816.321, + -20800.8359, + 787.1707 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27816.321, + -20800.8359, + 787.1707 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27816.321, + -20800.8359, + 787.1707 + ], + "actual_end_pos": [ + -27816.321, + -20800.8359, + 787.1707 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260415_212208__traj_000617_meta.json b/loop_easy/run_20260415_212208__traj_000617_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..608dc5f92eddea22c6874f04573a26f97373575c --- /dev/null +++ b/loop_easy/run_20260415_212208__traj_000617_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 617, + "episode_id": 0, + "state_id": 458, + "sample_index": 458, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -27840.0, + -18440.0, + 800.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_left", + "look_up", + "move_right", + "no_op", + "move_left", + "move_left", + "turn_left", + "move_backward", + "move_left", + "move_forward", + "move_right", + "move_right", + "turn_right", + "move_left", + "move_backward", + "turn_right", + "move_left", + "turn_left", + "move_left", + "turn_left", + "move_left", + "move_backward", + "move_right", + "move_forward", + "move_left", + "look_down", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -27840.0, + -18440.0, + 800.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27840.0, + -18440.0, + 800.0 + ], + "actual_end_pos": [ + -27840.0, + -18440.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -27840.0, + -18440.0, + 800.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -27743.4074, + -18414.1181, + 800.0 + ], + "actual_end_pos": [ + -27743.4074, + -18414.1181, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -27743.4074, + -18414.1181, + 800.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -27743.4074, + -18414.1181, + 800.0 + ], + "actual_end_pos": [ + -27743.4074, + -18414.1181, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -27743.4074, + -18414.1181, + 800.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -27840.0, + -18440.0, + 800.0 + ], + "actual_end_pos": [ + -27840.0, + -18440.0, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27840.0, + -18440.0, + 800.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -27840.0, + -18440.0, + 800.0 + ], + "actual_end_pos": [ + -27840.0, + -18440.0, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -27840.0, + -18440.0, + 800.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -27743.4074, + -18414.1181, + 800.0 + ], + "actual_end_pos": [ + -27743.4074, + -18414.1181, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -27743.4074, + -18414.1181, + 800.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -27646.8148, + -18388.2362, + 800.0 + ], + "actual_end_pos": [ + -27646.8148, + -18388.2362, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -27646.8148, + -18388.2362, + 800.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -27646.8148, + -18388.2362, + 800.0 + ], + "actual_end_pos": [ + -27646.8148, + -18388.2362, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -27646.8148, + -18388.2362, + 800.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27646.8148, + -18487.3807, + 786.9474 + ], + "actual_end_pos": [ + -27646.8148, + -18487.3807, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -27646.8148, + -18487.3807, + 786.9474 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27546.8148, + -18487.3807, + 786.9474 + ], + "actual_end_pos": [ + -27546.8148, + -18487.3807, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -27546.8148, + -18487.3807, + 786.9474 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27546.8148, + -18388.2362, + 800.0 + ], + "actual_end_pos": [ + -27546.8148, + -18388.2362, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -27546.8148, + -18388.2362, + 800.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27646.8148, + -18388.2362, + 800.0 + ], + "actual_end_pos": [ + -27646.8148, + -18388.2362, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -27646.8148, + -18388.2362, + 800.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27746.8148, + -18388.2362, + 800.0 + ], + "actual_end_pos": [ + -27746.8148, + -18388.2362, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -27746.8148, + -18388.2362, + 800.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27746.8148, + -18388.2362, + 800.0 + ], + "actual_end_pos": [ + -27746.8148, + -18388.2362, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -27746.8148, + -18388.2362, + 800.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -27650.2223, + -18362.3543, + 800.0 + ], + "actual_end_pos": [ + -27650.2223, + -18362.3543, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -27650.2223, + -18362.3543, + 800.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -27624.5618, + -18458.1205, + 786.9474 + ], + "actual_end_pos": [ + -27624.5618, + -18458.1205, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -27624.5618, + -18458.1205, + 786.9474 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -27624.5618, + -18458.1205, + 786.9474 + ], + "actual_end_pos": [ + -27624.5618, + -18458.1205, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -27624.5618, + -18458.1205, + 786.9474 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -27537.9592, + -18408.1205, + 786.9474 + ], + "actual_end_pos": [ + -27537.9592, + -18408.1205, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -27537.9592, + -18408.1205, + 786.9474 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -27537.9592, + -18408.1205, + 786.9474 + ], + "actual_end_pos": [ + -27537.9592, + -18408.1205, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -27537.9592, + -18408.1205, + 786.9474 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -27441.3666, + -18382.2386, + 786.9474 + ], + "actual_end_pos": [ + -27441.3666, + -18382.2386, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -27441.3666, + -18382.2386, + 786.9474 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -27441.3666, + -18382.2386, + 786.9474 + ], + "actual_end_pos": [ + -27441.3666, + -18382.2386, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -27441.3666, + -18382.2386, + 786.9474 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27341.3666, + -18382.2386, + 786.9474 + ], + "actual_end_pos": [ + -27341.3666, + -18382.2386, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -27341.3666, + -18382.2386, + 786.9474 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27341.3666, + -18481.3831, + 773.8948 + ], + "actual_end_pos": [ + -27341.3666, + -18481.3831, + 773.8948 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -27341.3666, + -18481.3831, + 773.8948 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27441.3666, + -18481.3831, + 773.8948 + ], + "actual_end_pos": [ + -27441.3666, + -18481.3831, + 773.8948 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -27441.3666, + -18481.3831, + 773.8948 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27441.3666, + -18382.2386, + 786.9474 + ], + "actual_end_pos": [ + -27441.3666, + -18382.2386, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -27441.3666, + -18382.2386, + 786.9474 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27341.3666, + -18382.2386, + 786.9474 + ], + "actual_end_pos": [ + -27341.3666, + -18382.2386, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -27341.3666, + -18382.2386, + 786.9474 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27341.3666, + -18382.2386, + 786.9474 + ], + "actual_end_pos": [ + -27341.3666, + -18382.2386, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -27341.3666, + -18382.2386, + 786.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27341.3666, + -18482.2386, + 786.9474 + ], + "actual_end_pos": [ + -27341.3666, + -18482.2386, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -27341.3666, + -18482.2386, + 786.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27441.3666, + -18482.2386, + 786.9474 + ], + "actual_end_pos": [ + -27441.3666, + -18482.2386, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -27441.3666, + -18482.2386, + 786.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27541.3666, + -18482.2386, + 786.9474 + ], + "actual_end_pos": [ + -27541.3666, + -18482.2386, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -27541.3666, + -18482.2386, + 786.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27641.3666, + -18482.2386, + 786.9474 + ], + "actual_end_pos": [ + -27641.3666, + -18482.2386, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -27641.3666, + -18482.2386, + 786.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27741.3666, + -18482.2386, + 786.9474 + ], + "actual_end_pos": [ + -27741.3666, + -18482.2386, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -27741.3666, + -18482.2386, + 786.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "actual_end_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "actual_end_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "actual_end_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "actual_end_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "actual_end_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "actual_end_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "actual_end_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "actual_end_pos": [ + -27841.3666, + -18482.2386, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260415_212208__traj_000966_meta.json b/loop_easy/run_20260415_212208__traj_000966_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..299eda9dfca20e2576617487d7a27d37de15eeee --- /dev/null +++ b/loop_easy/run_20260415_212208__traj_000966_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 966, + "episode_id": 0, + "state_id": 715, + "sample_index": 715, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -26640.0, + -25240.0, + 800.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_right", + "turn_left", + "move_left", + "move_backward", + "move_left", + "move_backward", + "move_backward", + "turn_left", + "look_up", + "no_op", + "move_right", + "no_op", + "move_right", + "move_right", + "turn_right", + "move_left", + "move_left", + "move_forward", + "turn_right", + "look_down", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -26640.0, + -25240.0, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26710.7107, + -25169.2893, + 800.0 + ], + "actual_end_pos": [ + -26710.7107, + -25169.2893, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -26710.7107, + -25169.2893, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26781.4214, + -25240.0, + 800.0 + ], + "actual_end_pos": [ + -26781.4214, + -25240.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -26781.4214, + -25240.0, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26781.4214, + -25240.0, + 800.0 + ], + "actual_end_pos": [ + -26781.4214, + -25240.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -26781.4214, + -25240.0, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -26694.8188, + -25190.0, + 800.0 + ], + "actual_end_pos": [ + -26694.8188, + -25190.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -26694.8188, + -25190.0, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -26644.8188, + -25276.6025, + 800.0 + ], + "actual_end_pos": [ + -26644.8188, + -25276.6025, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -26644.8188, + -25276.6025, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -26558.2163, + -25226.6025, + 800.0 + ], + "actual_end_pos": [ + -26558.2163, + -25226.6025, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -26558.2163, + -25226.6025, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -26508.2163, + -25313.2051, + 800.0 + ], + "actual_end_pos": [ + -26508.2163, + -25313.2051, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -26508.2163, + -25313.2051, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -26458.2163, + -25399.8076, + 800.0 + ], + "actual_end_pos": [ + -26458.2163, + -25399.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -26458.2163, + -25399.8076, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -26458.2163, + -25399.8076, + 800.0 + ], + "actual_end_pos": [ + -26458.2163, + -25399.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -26458.2163, + -25399.8076, + 800.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -26458.2163, + -25399.8076, + 800.0 + ], + "actual_end_pos": [ + -26458.2163, + -25399.8076, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26458.2163, + -25399.8076, + 800.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -26458.2163, + -25399.8076, + 800.0 + ], + "actual_end_pos": [ + -26458.2163, + -25399.8076, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -26458.2163, + -25399.8076, + 800.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -26554.8089, + -25425.6895, + 800.0 + ], + "actual_end_pos": [ + -26554.8089, + -25425.6895, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26554.8089, + -25425.6895, + 800.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -26554.8089, + -25425.6895, + 800.0 + ], + "actual_end_pos": [ + -26554.8089, + -25425.6895, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -26554.8089, + -25425.6895, + 800.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -26651.4014, + -25451.5714, + 800.0 + ], + "actual_end_pos": [ + -26651.4014, + -25451.5714, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -26651.4014, + -25451.5714, + 800.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -26747.994, + -25477.4533, + 800.0 + ], + "actual_end_pos": [ + -26747.994, + -25477.4533, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -26747.994, + -25477.4533, + 800.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -26747.994, + -25477.4533, + 800.0 + ], + "actual_end_pos": [ + -26747.994, + -25477.4533, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -26747.994, + -25477.4533, + 800.0 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -26661.3915, + -25427.4533, + 800.0 + ], + "actual_end_pos": [ + -26661.3915, + -25427.4533, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -26661.3915, + -25427.4533, + 800.0 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -26574.7889, + -25377.4533, + 800.0 + ], + "actual_end_pos": [ + -26574.7889, + -25377.4533, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -26574.7889, + -25377.4533, + 800.0 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_pos": [ + -26624.3612, + -25291.5917, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260415_212208__traj_001079_meta.json b/loop_easy/run_20260415_212208__traj_001079_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a419ed76114d3145ffea11decad5a3ef04e73c2f --- /dev/null +++ b/loop_easy/run_20260415_212208__traj_001079_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1079, + "episode_id": 0, + "state_id": 799, + "sample_index": 799, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -26640.0, + -20040.0, + 800.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "look_down", + "move_forward", + "look_up", + "move_forward", + "move_left", + "look_up", + "move_backward", + "move_left", + "move_left", + "move_backward", + "move_right", + "move_right", + "move_forward", + "move_right", + "turn_left", + "look_down", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -26640.0, + -20040.0, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26710.7107, + -19969.2893, + 800.0 + ], + "actual_end_pos": [ + -26710.7107, + -19969.2893, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -26710.7107, + -19969.2893, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26710.7107, + -19969.2893, + 800.0 + ], + "actual_end_pos": [ + -26710.7107, + -19969.2893, + 800.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -26710.7107, + -19969.2893, + 800.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.6049, + -20039.3951, + 786.9474 + ], + "actual_end_pos": [ + -26640.6049, + -20039.3951, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -26640.6049, + -20039.3951, + 786.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.6049, + -20039.3951, + 786.9474 + ], + "actual_end_pos": [ + -26640.6049, + -20039.3951, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -26640.6049, + -20039.3951, + 786.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26569.8943, + -20110.1057, + 786.9474 + ], + "actual_end_pos": [ + -26569.8943, + -20110.1057, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -26569.8943, + -20110.1057, + 786.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.6049, + -20180.8164, + 786.9474 + ], + "actual_end_pos": [ + -26640.6049, + -20180.8164, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -26640.6049, + -20180.8164, + 786.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.6049, + -20180.8164, + 786.9474 + ], + "actual_end_pos": [ + -26640.6049, + -20180.8164, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -26640.6049, + -20180.8164, + 786.9474 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26710.7107, + -20110.7107, + 773.8948 + ], + "actual_end_pos": [ + -26710.7107, + -20110.7107, + 773.8948 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -26710.7107, + -20110.7107, + 773.8948 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26781.4214, + -20181.4214, + 773.8948 + ], + "actual_end_pos": [ + -26781.4214, + -20181.4214, + 773.8948 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -26781.4214, + -20181.4214, + 773.8948 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26852.132, + -20252.132, + 773.8948 + ], + "actual_end_pos": [ + -26852.132, + -20252.132, + 773.8948 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -26852.132, + -20252.132, + 773.8948 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26922.2378, + -20182.0263, + 760.8421 + ], + "actual_end_pos": [ + -26922.2378, + -20182.0263, + 760.8421 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -26922.2378, + -20182.0263, + 760.8421 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26851.5271, + -20111.3156, + 760.8421 + ], + "actual_end_pos": [ + -26851.5271, + -20111.3156, + 760.8421 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -26851.5271, + -20111.3156, + 760.8421 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26780.8164, + -20040.6049, + 760.8421 + ], + "actual_end_pos": [ + -26780.8164, + -20040.6049, + 760.8421 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -26780.8164, + -20040.6049, + 760.8421 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26710.7107, + -20110.7107, + 773.8948 + ], + "actual_end_pos": [ + -26710.7107, + -20110.7107, + 773.8948 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -26710.7107, + -20110.7107, + 773.8948 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_pos": [ + -26640.0, + -20040.0, + 773.8948 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260415_212208__traj_001143_meta.json b/loop_easy/run_20260415_212208__traj_001143_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d29556ca707b969402cfbc8ffe3b8ca8fb8b5dd9 --- /dev/null +++ b/loop_easy/run_20260415_212208__traj_001143_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1143, + "episode_id": 0, + "state_id": 845, + "sample_index": 845, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -26240.0, + -25240.0, + 800.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "look_up", + "turn_right", + "no_op", + "move_backward", + "move_right", + "no_op", + "move_left", + "move_forward", + "move_left", + "move_left", + "move_backward", + "move_left", + "turn_right", + "no_op", + "turn_right", + "turn_left", + "turn_left", + "turn_left", + "look_down", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -26240.0, + -25240.0, + 800.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26310.7107, + -25310.7107, + 800.0 + ], + "actual_end_pos": [ + -26310.7107, + -25310.7107, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -26310.7107, + -25310.7107, + 800.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26381.4214, + -25381.4214, + 800.0 + ], + "actual_end_pos": [ + -26381.4214, + -25381.4214, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -26381.4214, + -25381.4214, + 800.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26381.4214, + -25381.4214, + 800.0 + ], + "actual_end_pos": [ + -26381.4214, + -25381.4214, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -26381.4214, + -25381.4214, + 800.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26381.4214, + -25381.4214, + 800.0 + ], + "actual_end_pos": [ + -26381.4214, + -25381.4214, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26381.4214, + -25381.4214, + 800.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -26381.4214, + -25381.4214, + 800.0 + ], + "actual_end_pos": [ + -26381.4214, + -25381.4214, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -26381.4214, + -25381.4214, + 800.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -26331.8491, + -25295.5597, + 786.9474 + ], + "actual_end_pos": [ + -26331.8491, + -25295.5597, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -26331.8491, + -25295.5597, + 786.9474 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -26245.2466, + -25345.5597, + 786.9474 + ], + "actual_end_pos": [ + -26245.2466, + -25345.5597, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26245.2466, + -25345.5597, + 786.9474 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -26245.2466, + -25345.5597, + 786.9474 + ], + "actual_end_pos": [ + -26245.2466, + -25345.5597, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -26245.2466, + -25345.5597, + 786.9474 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -26331.8491, + -25295.5597, + 786.9474 + ], + "actual_end_pos": [ + -26331.8491, + -25295.5597, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -26331.8491, + -25295.5597, + 786.9474 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -26381.4214, + -25381.4214, + 800.0 + ], + "actual_end_pos": [ + -26381.4214, + -25381.4214, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -26381.4214, + -25381.4214, + 800.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -26468.0239, + -25331.4214, + 800.0 + ], + "actual_end_pos": [ + -26468.0239, + -25331.4214, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -26468.0239, + -25331.4214, + 800.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -26554.6264, + -25281.4214, + 800.0 + ], + "actual_end_pos": [ + -26554.6264, + -25281.4214, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -26554.6264, + -25281.4214, + 800.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -26505.0542, + -25195.5597, + 786.9474 + ], + "actual_end_pos": [ + -26505.0542, + -25195.5597, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -26505.0542, + -25195.5597, + 786.9474 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "actual_end_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "actual_end_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "actual_end_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "actual_end_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "actual_end_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "actual_end_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "actual_end_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "actual_end_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -26591.6567, + -25145.5597, + 786.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26520.9461, + -25074.849, + 786.9474 + ], + "actual_end_pos": [ + -26520.9461, + -25074.849, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -26520.9461, + -25074.849, + 786.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26450.2354, + -25004.1384, + 786.9474 + ], + "actual_end_pos": [ + -26450.2354, + -25004.1384, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -26450.2354, + -25004.1384, + 786.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26379.5247, + -25074.849, + 786.9474 + ], + "actual_end_pos": [ + -26379.5247, + -25074.849, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -26379.5247, + -25074.849, + 786.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26308.814, + -25145.5597, + 786.9474 + ], + "actual_end_pos": [ + -26308.814, + -25145.5597, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -26308.814, + -25145.5597, + 786.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_pos": [ + -26238.1033, + -25216.2704, + 786.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260415_212208__traj_001186_meta.json b/loop_easy/run_20260415_212208__traj_001186_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..925087ce5c33a11cd3fe5869d8486a52276178b7 --- /dev/null +++ b/loop_easy/run_20260415_212208__traj_001186_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1186, + "episode_id": 0, + "state_id": 877, + "sample_index": 877, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -26240.0, + -23640.0, + 800.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_forward", + "move_forward", + "move_right", + "turn_right", + "turn_right", + "move_right", + "turn_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "look_up", + "move_left", + "turn_right", + "move_backward", + "move_left", + "turn_right", + "turn_right", + "move_right", + "turn_left", + "move_left", + "move_forward", + "move_forward", + "move_right", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "look_down", + "move_backward", + "move_backward", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -26240.0, + -23640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -23640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -23640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -26240.0, + -23640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -26326.6025, + -23690.0, + 800.0 + ], + "actual_end_pos": [ + -26326.6025, + -23690.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -26326.6025, + -23690.0, + 800.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -26413.2051, + -23740.0, + 800.0 + ], + "actual_end_pos": [ + -26413.2051, + -23740.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -26413.2051, + -23740.0, + 800.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -26363.2051, + -23826.6025, + 800.0 + ], + "actual_end_pos": [ + -26363.2051, + -23826.6025, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -26363.2051, + -23826.6025, + 800.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -26363.2051, + -23826.6025, + 800.0 + ], + "actual_end_pos": [ + -26363.2051, + -23826.6025, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -26363.2051, + -23826.6025, + 800.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26363.2051, + -23826.6025, + 800.0 + ], + "actual_end_pos": [ + -26363.2051, + -23826.6025, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -26363.2051, + -23826.6025, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -26276.6025, + -23876.6025, + 800.0 + ], + "actual_end_pos": [ + -26276.6025, + -23876.6025, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -26276.6025, + -23876.6025, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -26276.6025, + -23876.6025, + 800.0 + ], + "actual_end_pos": [ + -26276.6025, + -23876.6025, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -26276.6025, + -23876.6025, + 800.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -26180.01, + -23902.4844, + 800.0 + ], + "actual_end_pos": [ + -26180.01, + -23902.4844, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -26180.01, + -23902.4844, + 800.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -26083.4174, + -23928.3663, + 800.0 + ], + "actual_end_pos": [ + -26083.4174, + -23928.3663, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -26083.4174, + -23928.3663, + 800.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -26083.4174, + -23928.3663, + 800.0 + ], + "actual_end_pos": [ + -26083.4174, + -23928.3663, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -26083.4174, + -23928.3663, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -26083.4174, + -23928.3663, + 800.0 + ], + "actual_end_pos": [ + -26083.4174, + -23928.3663, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -26083.4174, + -23928.3663, + 800.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -26083.4174, + -23928.3663, + 800.0 + ], + "actual_end_pos": [ + -26083.4174, + -23928.3663, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -26083.4174, + -23928.3663, + 800.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -26180.01, + -23954.2483, + 800.0 + ], + "actual_end_pos": [ + -26180.01, + -23954.2483, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -26180.01, + -23954.2483, + 800.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -26180.01, + -23954.2483, + 800.0 + ], + "actual_end_pos": [ + -26180.01, + -23954.2483, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -26180.01, + -23954.2483, + 800.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -26229.5822, + -23868.3866, + 786.9474 + ], + "actual_end_pos": [ + -26229.5822, + -23868.3866, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -26229.5822, + -23868.3866, + 786.9474 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -26316.1847, + -23918.3866, + 786.9474 + ], + "actual_end_pos": [ + -26316.1847, + -23918.3866, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -26316.1847, + -23918.3866, + 786.9474 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -26316.1847, + -23918.3866, + 786.9474 + ], + "actual_end_pos": [ + -26316.1847, + -23918.3866, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -26316.1847, + -23918.3866, + 786.9474 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26316.1847, + -23918.3866, + 786.9474 + ], + "actual_end_pos": [ + -26316.1847, + -23918.3866, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -26316.1847, + -23918.3866, + 786.9474 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -26266.1847, + -23831.7841, + 786.9474 + ], + "actual_end_pos": [ + -26266.1847, + -23831.7841, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -26266.1847, + -23831.7841, + 786.9474 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -26266.1847, + -23831.7841, + 786.9474 + ], + "actual_end_pos": [ + -26266.1847, + -23831.7841, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -26266.1847, + -23831.7841, + 786.9474 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26336.8954, + -23902.4947, + 786.9474 + ], + "actual_end_pos": [ + -26336.8954, + -23902.4947, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -26336.8954, + -23902.4947, + 786.9474 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26266.7897, + -23972.6005, + 800.0 + ], + "actual_end_pos": [ + -26266.7897, + -23972.6005, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -26266.7897, + -23972.6005, + 800.0 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26196.6839, + -24042.7062, + 813.0526 + ], + "actual_end_pos": [ + -26196.6839, + -24042.7062, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -26196.6839, + -24042.7062, + 813.0526 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26125.9733, + -23971.9955, + 813.0526 + ], + "actual_end_pos": [ + -26125.9733, + -23971.9955, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -26125.9733, + -23971.9955, + 813.0526 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "actual_end_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "actual_end_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "actual_end_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "actual_end_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "actual_end_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "actual_end_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "actual_end_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "actual_end_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -26196.079, + -23901.8898, + 800.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26125.3683, + -23831.1791, + 800.0 + ], + "actual_end_pos": [ + -26125.3683, + -23831.1791, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -26125.3683, + -23831.1791, + 800.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26054.6576, + -23760.4684, + 800.0 + ], + "actual_end_pos": [ + -26054.6576, + -23760.4684, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -26054.6576, + -23760.4684, + 800.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26125.3683, + -23689.7578, + 800.0 + ], + "actual_end_pos": [ + -26125.3683, + -23689.7578, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -26125.3683, + -23689.7578, + 800.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26196.079, + -23619.0471, + 800.0 + ], + "actual_end_pos": [ + -26196.079, + -23619.0471, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26196.079, + -23619.0471, + 800.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26196.079, + -23619.0471, + 800.0 + ], + "actual_end_pos": [ + -26196.079, + -23619.0471, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26196.079, + -23619.0471, + 800.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26196.079, + -23619.0471, + 800.0 + ], + "actual_end_pos": [ + -26196.079, + -23619.0471, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26196.079, + -23619.0471, + 800.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -26196.079, + -23619.0471, + 800.0 + ], + "actual_end_pos": [ + -26196.079, + -23619.0471, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260415_212208__traj_001335_meta.json b/loop_easy/run_20260415_212208__traj_001335_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f86b13e5abfe76c24d1017c3bc63a8dda247e24e --- /dev/null +++ b/loop_easy/run_20260415_212208__traj_001335_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1335, + "episode_id": 0, + "state_id": 988, + "sample_index": 988, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -26240.0, + -17640.0, + 800.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "look_down", + "move_left", + "turn_right", + "look_up", + "no_op", + "no_op", + "move_right", + "no_op", + "move_left", + "turn_left", + "no_op", + "look_down", + "move_right", + "move_forward", + "no_op", + "move_right", + "move_backward", + "look_up", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17540.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17540.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -26240.0, + -17540.0, + 800.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17540.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17540.0, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -26240.0, + -17540.0, + 800.0 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -26214.1181, + -17536.5926, + 800.0 + ], + "actual_end_pos": [ + -26214.1181, + -17536.5926, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26214.1181, + -17536.5926, + 800.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -26214.1181, + -17536.5926, + 800.0 + ], + "actual_end_pos": [ + -26214.1181, + -17536.5926, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -26214.1181, + -17536.5926, + 800.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "actual_end_rot": [ + -7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -26240.0, + -17440.0, + 800.0 + ], + "start_rot": [ + -7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17540.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17540.0, + 800.0 + ], + "actual_end_rot": [ + -7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -26240.0, + -17540.0, + 800.0 + ], + "start_rot": [ + -7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26339.1445, + -17540.0, + 786.9474 + ], + "actual_end_pos": [ + -26339.1445, + -17540.0, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26339.1445, + -17540.0, + 786.9474 + ], + "start_rot": [ + -7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26339.1445, + -17540.0, + 786.9474 + ], + "actual_end_pos": [ + -26339.1445, + -17540.0, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -26339.1445, + -17540.0, + 786.9474 + ], + "start_rot": [ + -7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26339.1445, + -17640.0, + 786.9474 + ], + "actual_end_pos": [ + -26339.1445, + -17640.0, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -26339.1445, + -17640.0, + 786.9474 + ], + "start_rot": [ + -7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + -7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + -7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_pos": [ + -26240.0, + -17640.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260415_212208__traj_001487_meta.json b/loop_easy/run_20260415_212208__traj_001487_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ee7e816f06846817a3e6a4ced090a6a9fb25ba2 --- /dev/null +++ b/loop_easy/run_20260415_212208__traj_001487_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1487, + "episode_id": 0, + "state_id": 1097, + "sample_index": 1097, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -25840.0, + -20440.0, + 800.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_right", + "move_forward", + "move_right", + "no_op", + "move_right", + "look_up", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "move_forward", + "move_left", + "move_backward", + "move_backward", + "move_left", + "turn_right", + "move_forward", + "turn_right", + "turn_left", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -25840.0, + -20440.0, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25769.2893, + -20369.2893, + 800.0 + ], + "actual_end_pos": [ + -25769.2893, + -20369.2893, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -25769.2893, + -20369.2893, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25840.0, + -20298.5786, + 800.0 + ], + "actual_end_pos": [ + -25840.0, + -20298.5786, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -25840.0, + -20298.5786, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25769.2893, + -20227.868, + 800.0 + ], + "actual_end_pos": [ + -25769.2893, + -20227.868, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -25769.2893, + -20227.868, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25840.0, + -20157.1573, + 800.0 + ], + "actual_end_pos": [ + -25840.0, + -20157.1573, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25840.0, + -20157.1573, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25840.0, + -20157.1573, + 800.0 + ], + "actual_end_pos": [ + -25840.0, + -20157.1573, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -25840.0, + -20157.1573, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25910.7107, + -20086.4466, + 800.0 + ], + "actual_end_pos": [ + -25910.7107, + -20086.4466, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -25910.7107, + -20086.4466, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25910.7107, + -20086.4466, + 800.0 + ], + "actual_end_pos": [ + -25910.7107, + -20086.4466, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -25910.7107, + -20086.4466, + 800.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25840.6049, + -20016.3409, + 813.0526 + ], + "actual_end_pos": [ + -25840.6049, + -20016.3409, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -25840.6049, + -20016.3409, + 813.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25770.4992, + -19946.2351, + 826.1052 + ], + "actual_end_pos": [ + -25770.4992, + -19946.2351, + 826.1052 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -25770.4992, + -19946.2351, + 826.1052 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25700.3935, + -19876.1294, + 839.1579 + ], + "actual_end_pos": [ + -25700.3935, + -19876.1294, + 839.1579 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -25700.3935, + -19876.1294, + 839.1579 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25700.3935, + -19876.1294, + 839.1579 + ], + "actual_end_pos": [ + -25700.3935, + -19876.1294, + 839.1579 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -25700.3935, + -19876.1294, + 839.1579 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -25614.5318, + -19826.5572, + 852.2105 + ], + "actual_end_pos": [ + -25614.5318, + -19826.5572, + 852.2105 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -25614.5318, + -19826.5572, + 852.2105 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -25564.5318, + -19913.1597, + 852.2105 + ], + "actual_end_pos": [ + -25564.5318, + -19913.1597, + 852.2105 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -25564.5318, + -19913.1597, + 852.2105 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -25650.3935, + -19962.7319, + 839.1579 + ], + "actual_end_pos": [ + -25650.3935, + -19962.7319, + 839.1579 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -25650.3935, + -19962.7319, + 839.1579 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -25736.2551, + -20012.3042, + 826.1052 + ], + "actual_end_pos": [ + -25736.2551, + -20012.3042, + 826.1052 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -25736.2551, + -20012.3042, + 826.1052 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -25686.2551, + -20098.9067, + 826.1052 + ], + "actual_end_pos": [ + -25686.2551, + -20098.9067, + 826.1052 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -25686.2551, + -20098.9067, + 826.1052 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -25686.2551, + -20098.9067, + 826.1052 + ], + "actual_end_pos": [ + -25686.2551, + -20098.9067, + 826.1052 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -25686.2551, + -20098.9067, + 826.1052 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25616.1494, + -20028.801, + 839.1579 + ], + "actual_end_pos": [ + -25616.1494, + -20028.801, + 839.1579 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -25616.1494, + -20028.801, + 839.1579 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25616.1494, + -20028.801, + 839.1579 + ], + "actual_end_pos": [ + -25616.1494, + -20028.801, + 839.1579 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -25616.1494, + -20028.801, + 839.1579 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -25616.1494, + -20028.801, + 839.1579 + ], + "actual_end_pos": [ + -25616.1494, + -20028.801, + 839.1579 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -25616.1494, + -20028.801, + 839.1579 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25616.1494, + -20028.801, + 839.1579 + ], + "actual_end_pos": [ + -25616.1494, + -20028.801, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -25616.1494, + -20028.801, + 839.1579 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25686.86, + -20099.5117, + 839.1579 + ], + "actual_end_pos": [ + -25686.86, + -20099.5117, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -25686.86, + -20099.5117, + 839.1579 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25757.5707, + -20170.2223, + 839.1579 + ], + "actual_end_pos": [ + -25757.5707, + -20170.2223, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -25757.5707, + -20170.2223, + 839.1579 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25828.2814, + -20240.933, + 839.1579 + ], + "actual_end_pos": [ + -25828.2814, + -20240.933, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -25828.2814, + -20240.933, + 839.1579 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25898.9921, + -20311.6437, + 839.1579 + ], + "actual_end_pos": [ + -25898.9921, + -20311.6437, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -25898.9921, + -20311.6437, + 839.1579 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_pos": [ + -25828.2814, + -20382.3544, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260415_212208__traj_001578_meta.json b/loop_easy/run_20260415_212208__traj_001578_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99db235bb64a7f905f76a7e8d508a4ec2ab73798 --- /dev/null +++ b/loop_easy/run_20260415_212208__traj_001578_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1578, + "episode_id": 0, + "state_id": 1164, + "sample_index": 1164, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -25440.0, + -25240.0, + 800.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_forward", + "move_left", + "move_forward", + "move_left", + "no_op", + "move_right", + "move_forward", + "move_forward", + "look_up", + "move_left", + "turn_right", + "move_right", + "turn_right", + "move_forward", + "turn_right", + "move_right", + "turn_right", + "no_op", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -25440.0, + -25240.0, + 800.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -25440.0, + -25140.0, + 800.0 + ], + "actual_end_pos": [ + -25440.0, + -25140.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -25440.0, + -25140.0, + 800.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -25540.0, + -25140.0, + 800.0 + ], + "actual_end_pos": [ + -25540.0, + -25140.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -25540.0, + -25140.0, + 800.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -25540.0, + -25040.0, + 800.0 + ], + "actual_end_pos": [ + -25540.0, + -25040.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -25540.0, + -25040.0, + 800.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -25640.0, + -25040.0, + 800.0 + ], + "actual_end_pos": [ + -25640.0, + -25040.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -25640.0, + -25040.0, + 800.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -25640.0, + -24940.0, + 800.0 + ], + "actual_end_pos": [ + -25640.0, + -24940.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25640.0, + -24940.0, + 800.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -25640.0, + -24940.0, + 800.0 + ], + "actual_end_pos": [ + -25640.0, + -24940.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -25640.0, + -24940.0, + 800.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -25640.0, + -25040.0, + 800.0 + ], + "actual_end_pos": [ + -25640.0, + -25040.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -25640.0, + -25040.0, + 800.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -25740.0, + -25040.0, + 800.0 + ], + "actual_end_pos": [ + -25740.0, + -25040.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -25740.0, + -25040.0, + 800.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -25840.0, + -25040.0, + 800.0 + ], + "actual_end_pos": [ + -25840.0, + -25040.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -25840.0, + -25040.0, + 800.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -25840.0, + -25040.0, + 800.0 + ], + "actual_end_pos": [ + -25840.0, + -25040.0, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -25840.0, + -25040.0, + 800.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -25840.0, + -24940.0, + 800.0 + ], + "actual_end_pos": [ + -25840.0, + -24940.0, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -25840.0, + -24940.0, + 800.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -25840.0, + -24940.0, + 800.0 + ], + "actual_end_pos": [ + -25840.0, + -24940.0, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -25840.0, + -24940.0, + 800.0 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -25814.1181, + -25036.5926, + 800.0 + ], + "actual_end_pos": [ + -25814.1181, + -25036.5926, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -25814.1181, + -25036.5926, + 800.0 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -25814.1181, + -25036.5926, + 800.0 + ], + "actual_end_pos": [ + -25814.1181, + -25036.5926, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -25814.1181, + -25036.5926, + 800.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -25899.9797, + -25086.1648, + 813.0526 + ], + "actual_end_pos": [ + -25899.9797, + -25086.1648, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -25899.9797, + -25086.1648, + 813.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -25899.9797, + -25086.1648, + 813.0526 + ], + "actual_end_pos": [ + -25899.9797, + -25086.1648, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -25899.9797, + -25086.1648, + 813.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -25829.269, + -25156.8755, + 813.0526 + ], + "actual_end_pos": [ + -25829.269, + -25156.8755, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -25829.269, + -25156.8755, + 813.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -25829.269, + -25156.8755, + 813.0526 + ], + "actual_end_pos": [ + -25829.269, + -25156.8755, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25829.269, + -25156.8755, + 813.0526 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -25829.269, + -25156.8755, + 813.0526 + ], + "actual_end_pos": [ + -25829.269, + -25156.8755, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -25829.269, + -25156.8755, + 813.0526 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -25742.6665, + -25206.8755, + 813.0526 + ], + "actual_end_pos": [ + -25742.6665, + -25206.8755, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -25742.6665, + -25206.8755, + 813.0526 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -25742.6665, + -25206.8755, + 813.0526 + ], + "actual_end_pos": [ + -25742.6665, + -25206.8755, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -25742.6665, + -25206.8755, + 813.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -25742.6665, + -25206.8755, + 813.0526 + ], + "actual_end_pos": [ + -25742.6665, + -25206.8755, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -25742.6665, + -25206.8755, + 813.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -25742.6665, + -25206.8755, + 813.0526 + ], + "actual_end_pos": [ + -25742.6665, + -25206.8755, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -25742.6665, + -25206.8755, + 813.0526 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -25742.6665, + -25206.8755, + 813.0526 + ], + "actual_end_pos": [ + -25742.6665, + -25206.8755, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -25742.6665, + -25206.8755, + 813.0526 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -25742.6665, + -25206.8755, + 813.0526 + ], + "actual_end_pos": [ + -25742.6665, + -25206.8755, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -25742.6665, + -25206.8755, + 813.0526 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -25642.6665, + -25206.8755, + 813.0526 + ], + "actual_end_pos": [ + -25642.6665, + -25206.8755, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -25642.6665, + -25206.8755, + 813.0526 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -25542.6665, + -25206.8755, + 813.0526 + ], + "actual_end_pos": [ + -25542.6665, + -25206.8755, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -25542.6665, + -25206.8755, + 813.0526 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_pos": [ + -25442.6665, + -25206.8755, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260415_212208__traj_001809_meta.json b/loop_easy/run_20260415_212208__traj_001809_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..19c964a3f727893bd004ba186132d9d7cdf1fc0c --- /dev/null +++ b/loop_easy/run_20260415_212208__traj_001809_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1809, + "episode_id": 0, + "state_id": 1331, + "sample_index": 1331, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -25040.0, + -25240.0, + 800.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "turn_right", + "move_backward", + "turn_left", + "turn_left", + "move_forward", + "look_up", + "move_forward", + "move_left", + "move_left", + "move_left", + "move_forward", + "no_op", + "turn_right", + "move_right", + "no_op", + "no_op", + "move_backward", + "turn_left", + "look_up", + "move_right", + "look_down", + "no_op", + "move_left", + "move_left", + "turn_left", + "look_up", + "turn_right", + "turn_right", + "look_down", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -25040.0, + -25240.0, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -25040.0, + -25240.0, + 800.0 + ], + "actual_end_pos": [ + -25040.0, + -25240.0, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -25040.0, + -25240.0, + 800.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -25040.0, + -25240.0, + 800.0 + ], + "actual_end_pos": [ + -25040.0, + -25240.0, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -25040.0, + -25240.0, + 800.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -24954.1384, + -25289.5722, + 813.0526 + ], + "actual_end_pos": [ + -24954.1384, + -25289.5722, + 813.0526 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -24954.1384, + -25289.5722, + 813.0526 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -24954.1384, + -25289.5722, + 813.0526 + ], + "actual_end_pos": [ + -24954.1384, + -25289.5722, + 813.0526 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -24954.1384, + -25289.5722, + 813.0526 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -24954.1384, + -25289.5722, + 813.0526 + ], + "actual_end_pos": [ + -24954.1384, + -25289.5722, + 813.0526 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24954.1384, + -25289.5722, + 813.0526 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -25003.7106, + -25203.7106, + 800.0 + ], + "actual_end_pos": [ + -25003.7106, + -25203.7106, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -25003.7106, + -25203.7106, + 800.0 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -25003.7106, + -25203.7106, + 800.0 + ], + "actual_end_pos": [ + -25003.7106, + -25203.7106, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -25003.7106, + -25203.7106, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -25053.7106, + -25117.1081, + 800.0 + ], + "actual_end_pos": [ + -25053.7106, + -25117.1081, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -25053.7106, + -25117.1081, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -24967.1081, + -25067.1081, + 800.0 + ], + "actual_end_pos": [ + -24967.1081, + -25067.1081, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24967.1081, + -25067.1081, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -24880.5055, + -25017.1081, + 800.0 + ], + "actual_end_pos": [ + -24880.5055, + -25017.1081, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24880.5055, + -25017.1081, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -24793.903, + -24967.1081, + 800.0 + ], + "actual_end_pos": [ + -24793.903, + -24967.1081, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24793.903, + -24967.1081, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -24843.903, + -24880.5055, + 800.0 + ], + "actual_end_pos": [ + -24843.903, + -24880.5055, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24843.903, + -24880.5055, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -24843.903, + -24880.5055, + 800.0 + ], + "actual_end_pos": [ + -24843.903, + -24880.5055, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -24843.903, + -24880.5055, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -24843.903, + -24880.5055, + 800.0 + ], + "actual_end_pos": [ + -24843.903, + -24880.5055, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24843.903, + -24880.5055, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -24914.6137, + -24951.2162, + 800.0 + ], + "actual_end_pos": [ + -24914.6137, + -24951.2162, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24914.6137, + -24951.2162, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -24914.6137, + -24951.2162, + 800.0 + ], + "actual_end_pos": [ + -24914.6137, + -24951.2162, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24914.6137, + -24951.2162, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -24914.6137, + -24951.2162, + 800.0 + ], + "actual_end_pos": [ + -24914.6137, + -24951.2162, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -24914.6137, + -24951.2162, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -24843.903, + -25021.9269, + 800.0 + ], + "actual_end_pos": [ + -24843.903, + -25021.9269, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -24843.903, + -25021.9269, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -24843.903, + -25021.9269, + 800.0 + ], + "actual_end_pos": [ + -24843.903, + -25021.9269, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -24843.903, + -25021.9269, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -24843.903, + -25021.9269, + 800.0 + ], + "actual_end_pos": [ + -24843.903, + -25021.9269, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24843.903, + -25021.9269, + 800.0 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -24930.5055, + -25071.9269, + 800.0 + ], + "actual_end_pos": [ + -24930.5055, + -25071.9269, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -24930.5055, + -25071.9269, + 800.0 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -24930.5055, + -25071.9269, + 800.0 + ], + "actual_end_pos": [ + -24930.5055, + -25071.9269, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24930.5055, + -25071.9269, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -24930.5055, + -25071.9269, + 800.0 + ], + "actual_end_pos": [ + -24930.5055, + -25071.9269, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24930.5055, + -25071.9269, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -24843.903, + -25021.9269, + 800.0 + ], + "actual_end_pos": [ + -24843.903, + -25021.9269, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24843.903, + -25021.9269, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -24757.3004, + -24971.9269, + 800.0 + ], + "actual_end_pos": [ + -24757.3004, + -24971.9269, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -24757.3004, + -24971.9269, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -24757.3004, + -24971.9269, + 800.0 + ], + "actual_end_pos": [ + -24757.3004, + -24971.9269, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -24757.3004, + -24971.9269, + 800.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -24757.3004, + -24971.9269, + 800.0 + ], + "actual_end_pos": [ + -24757.3004, + -24971.9269, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -24757.3004, + -24971.9269, + 800.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -24757.3004, + -24971.9269, + 800.0 + ], + "actual_end_pos": [ + -24757.3004, + -24971.9269, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -24757.3004, + -24971.9269, + 800.0 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -24757.3004, + -24971.9269, + 800.0 + ], + "actual_end_pos": [ + -24757.3004, + -24971.9269, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -24757.3004, + -24971.9269, + 800.0 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -24757.3004, + -24971.9269, + 800.0 + ], + "actual_end_pos": [ + -24757.3004, + -24971.9269, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24757.3004, + -24971.9269, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -24828.0111, + -25042.6376, + 800.0 + ], + "actual_end_pos": [ + -24828.0111, + -25042.6376, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24828.0111, + -25042.6376, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -24898.7218, + -25113.3482, + 800.0 + ], + "actual_end_pos": [ + -24898.7218, + -25113.3482, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24898.7218, + -25113.3482, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -24969.4325, + -25184.0589, + 800.0 + ], + "actual_end_pos": [ + -24969.4325, + -25184.0589, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24969.4325, + -25184.0589, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -25040.1432, + -25254.7696, + 800.0 + ], + "actual_end_pos": [ + -25040.1432, + -25254.7696, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25040.1432, + -25254.7696, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -25040.1432, + -25254.7696, + 800.0 + ], + "actual_end_pos": [ + -25040.1432, + -25254.7696, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25040.1432, + -25254.7696, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -25040.1432, + -25254.7696, + 800.0 + ], + "actual_end_pos": [ + -25040.1432, + -25254.7696, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25040.1432, + -25254.7696, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -25040.1432, + -25254.7696, + 800.0 + ], + "actual_end_pos": [ + -25040.1432, + -25254.7696, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25040.1432, + -25254.7696, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -25040.1432, + -25254.7696, + 800.0 + ], + "actual_end_pos": [ + -25040.1432, + -25254.7696, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25040.1432, + -25254.7696, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -25040.1432, + -25254.7696, + 800.0 + ], + "actual_end_pos": [ + -25040.1432, + -25254.7696, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25040.1432, + -25254.7696, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -25040.1432, + -25254.7696, + 800.0 + ], + "actual_end_pos": [ + -25040.1432, + -25254.7696, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260415_212208__traj_002216_meta.json b/loop_easy/run_20260415_212208__traj_002216_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b707b6983aadcdca087b685ea6829566b2ce2007 --- /dev/null +++ b/loop_easy/run_20260415_212208__traj_002216_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2216, + "episode_id": 0, + "state_id": 1630, + "sample_index": 1630, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -24640.0, + -17240.0, + 800.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "turn_left", + "move_backward", + "move_right", + "move_forward", + "move_forward", + "look_down", + "move_right", + "look_up", + "move_left", + "move_forward", + "move_left", + "move_forward", + "no_op", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -24640.0, + -17240.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24640.0, + -17240.0, + 800.0 + ], + "actual_end_pos": [ + -24640.0, + -17240.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -24640.0, + -17240.0, + 800.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -24640.0, + -17240.0, + 800.0 + ], + "actual_end_pos": [ + -24640.0, + -17240.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -24640.0, + -17240.0, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -24590.0, + -17153.3975, + 800.0 + ], + "actual_end_pos": [ + -24590.0, + -17153.3975, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24590.0, + -17153.3975, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -24503.3975, + -17203.3975, + 800.0 + ], + "actual_end_pos": [ + -24503.3975, + -17203.3975, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24503.3975, + -17203.3975, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -24553.3975, + -17290.0, + 800.0 + ], + "actual_end_pos": [ + -24553.3975, + -17290.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24553.3975, + -17290.0, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -24603.3975, + -17376.6025, + 800.0 + ], + "actual_end_pos": [ + -24603.3975, + -17376.6025, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -24603.3975, + -17376.6025, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -24603.3975, + -17376.6025, + 800.0 + ], + "actual_end_pos": [ + -24603.3975, + -17376.6025, + 800.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24603.3975, + -17376.6025, + 800.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -24516.7949, + -17426.6025, + 800.0 + ], + "actual_end_pos": [ + -24516.7949, + -17426.6025, + 800.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -24516.7949, + -17426.6025, + 800.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -24516.7949, + -17426.6025, + 800.0 + ], + "actual_end_pos": [ + -24516.7949, + -17426.6025, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24516.7949, + -17426.6025, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -24603.3975, + -17376.6025, + 800.0 + ], + "actual_end_pos": [ + -24603.3975, + -17376.6025, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24603.3975, + -17376.6025, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -24653.3975, + -17463.2051, + 800.0 + ], + "actual_end_pos": [ + -24653.3975, + -17463.2051, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24653.3975, + -17463.2051, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -24740.0, + -17413.2051, + 800.0 + ], + "actual_end_pos": [ + -24740.0, + -17413.2051, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24740.0, + -17413.2051, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -24790.0, + -17499.8076, + 800.0 + ], + "actual_end_pos": [ + -24790.0, + -17499.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24790.0, + -17499.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -24790.0, + -17499.8076, + 800.0 + ], + "actual_end_pos": [ + -24790.0, + -17499.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24790.0, + -17499.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -24876.6025, + -17449.8076, + 800.0 + ], + "actual_end_pos": [ + -24876.6025, + -17449.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24876.6025, + -17449.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -24963.2051, + -17399.8076, + 800.0 + ], + "actual_end_pos": [ + -24963.2051, + -17399.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24963.2051, + -17399.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -25049.8076, + -17349.8076, + 800.0 + ], + "actual_end_pos": [ + -25049.8076, + -17349.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -25049.8076, + -17349.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -25049.8076, + -17349.8076, + 800.0 + ], + "actual_end_pos": [ + -25049.8076, + -17349.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -25049.8076, + -17349.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -25049.8076, + -17349.8076, + 800.0 + ], + "actual_end_pos": [ + -25049.8076, + -17349.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -25049.8076, + -17349.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -25049.8076, + -17249.8076, + 800.0 + ], + "actual_end_pos": [ + -25049.8076, + -17249.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -25049.8076, + -17249.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24949.8076, + -17249.8076, + 800.0 + ], + "actual_end_pos": [ + -24949.8076, + -17249.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24949.8076, + -17249.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24849.8076, + -17249.8076, + 800.0 + ], + "actual_end_pos": [ + -24849.8076, + -17249.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24849.8076, + -17249.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24749.8076, + -17249.8076, + 800.0 + ], + "actual_end_pos": [ + -24749.8076, + -17249.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24749.8076, + -17249.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_pos": [ + -24649.8076, + -17249.8076, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260415_212208__traj_002227_meta.json b/loop_easy/run_20260415_212208__traj_002227_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..41e3de646b3be965e718385bb3027718a23dcaae --- /dev/null +++ b/loop_easy/run_20260415_212208__traj_002227_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2227, + "episode_id": 0, + "state_id": 1638, + "sample_index": 1638, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -24240.0, + -25240.0, + 800.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "turn_right", + "look_down", + "move_backward", + "move_left", + "look_up", + "move_forward", + "look_up", + "look_up", + "move_backward", + "no_op", + "move_forward", + "look_down", + "turn_right", + "move_backward", + "move_backward", + "no_op", + "turn_left", + "look_up", + "move_left", + "move_left", + "turn_left", + "look_down", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24240.0, + -25240.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24340.0, + -25240.0, + 800.0 + ], + "actual_end_pos": [ + -24340.0, + -25240.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -24340.0, + -25240.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24340.0, + -25240.0, + 800.0 + ], + "actual_end_pos": [ + -24340.0, + -25240.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -24340.0, + -25240.0, + 800.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -24340.0, + -25240.0, + 800.0 + ], + "actual_end_pos": [ + -24340.0, + -25240.0, + 800.0 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -24340.0, + -25240.0, + 800.0 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -24365.6605, + -25144.2338, + 813.0526 + ], + "actual_end_pos": [ + -24365.6605, + -25144.2338, + 813.0526 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24365.6605, + -25144.2338, + 813.0526 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -24462.2531, + -25170.1157, + 813.0526 + ], + "actual_end_pos": [ + -24462.2531, + -25170.1157, + 813.0526 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -24462.2531, + -25170.1157, + 813.0526 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -24462.2531, + -25170.1157, + 813.0526 + ], + "actual_end_pos": [ + -24462.2531, + -25170.1157, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24462.2531, + -25170.1157, + 813.0526 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -24436.3712, + -25266.7083, + 813.0526 + ], + "actual_end_pos": [ + -24436.3712, + -25266.7083, + 813.0526 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -24436.3712, + -25266.7083, + 813.0526 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -24436.3712, + -25266.7083, + 813.0526 + ], + "actual_end_pos": [ + -24436.3712, + -25266.7083, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -24436.3712, + -25266.7083, + 813.0526 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -24436.3712, + -25266.7083, + 813.0526 + ], + "actual_end_pos": [ + -24436.3712, + -25266.7083, + 813.0526 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -24436.3712, + -25266.7083, + 813.0526 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -24461.3712, + -25173.407, + 787.1707 + ], + "actual_end_pos": [ + -24461.3712, + -25173.407, + 787.1707 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24461.3712, + -25173.407, + 787.1707 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -24461.3712, + -25173.407, + 787.1707 + ], + "actual_end_pos": [ + -24461.3712, + -25173.407, + 787.1707 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24461.3712, + -25173.407, + 787.1707 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -24436.3712, + -25266.7083, + 813.0526 + ], + "actual_end_pos": [ + -24436.3712, + -25266.7083, + 813.0526 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -24436.3712, + -25266.7083, + 813.0526 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -24436.3712, + -25266.7083, + 813.0526 + ], + "actual_end_pos": [ + -24436.3712, + -25266.7083, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -24436.3712, + -25266.7083, + 813.0526 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -24436.3712, + -25266.7083, + 813.0526 + ], + "actual_end_pos": [ + -24436.3712, + -25266.7083, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -24436.3712, + -25266.7083, + 813.0526 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -24485.9434, + -25180.8466, + 800.0 + ], + "actual_end_pos": [ + -24485.9434, + -25180.8466, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -24485.9434, + -25180.8466, + 800.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -24535.5156, + -25094.985, + 786.9474 + ], + "actual_end_pos": [ + -24535.5156, + -25094.985, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24535.5156, + -25094.985, + 786.9474 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -24535.5156, + -25094.985, + 786.9474 + ], + "actual_end_pos": [ + -24535.5156, + -25094.985, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -24535.5156, + -25094.985, + 786.9474 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -24535.5156, + -25094.985, + 786.9474 + ], + "actual_end_pos": [ + -24535.5156, + -25094.985, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -24535.5156, + -25094.985, + 786.9474 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -24535.5156, + -25094.985, + 786.9474 + ], + "actual_end_pos": [ + -24535.5156, + -25094.985, + 786.9474 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24535.5156, + -25094.985, + 786.9474 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -24632.1082, + -25120.8669, + 786.9474 + ], + "actual_end_pos": [ + -24632.1082, + -25120.8669, + 786.9474 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24632.1082, + -25120.8669, + 786.9474 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -24728.7008, + -25146.7488, + 786.9474 + ], + "actual_end_pos": [ + -24728.7008, + -25146.7488, + 786.9474 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -24728.7008, + -25146.7488, + 786.9474 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -24728.7008, + -25146.7488, + 786.9474 + ], + "actual_end_pos": [ + -24728.7008, + -25146.7488, + 786.9474 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -24728.7008, + -25146.7488, + 786.9474 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24728.7008, + -25146.7488, + 786.9474 + ], + "actual_end_pos": [ + -24728.7008, + -25146.7488, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24728.7008, + -25146.7488, + 786.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24728.7008, + -25245.8933, + 800.0 + ], + "actual_end_pos": [ + -24728.7008, + -25245.8933, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24728.7008, + -25245.8933, + 800.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24728.7008, + -25345.0378, + 813.0526 + ], + "actual_end_pos": [ + -24728.7008, + -25345.0378, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24728.7008, + -25345.0378, + 813.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24728.7008, + -25444.1823, + 826.1052 + ], + "actual_end_pos": [ + -24728.7008, + -25444.1823, + 826.1052 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24728.7008, + -25444.1823, + 826.1052 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24728.7008, + -25543.3267, + 839.1579 + ], + "actual_end_pos": [ + -24728.7008, + -25543.3267, + 839.1579 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -24728.7008, + -25543.3267, + 839.1579 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24728.7008, + -25543.3267, + 839.1579 + ], + "actual_end_pos": [ + -24728.7008, + -25543.3267, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -24728.7008, + -25543.3267, + 839.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24728.7008, + -25443.3267, + 839.1579 + ], + "actual_end_pos": [ + -24728.7008, + -25443.3267, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -24728.7008, + -25443.3267, + 839.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24728.7008, + -25343.3267, + 839.1579 + ], + "actual_end_pos": [ + -24728.7008, + -25343.3267, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -24728.7008, + -25343.3267, + 839.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24728.7008, + -25243.3267, + 839.1579 + ], + "actual_end_pos": [ + -24728.7008, + -25243.3267, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24728.7008, + -25243.3267, + 839.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24628.7008, + -25243.3267, + 839.1579 + ], + "actual_end_pos": [ + -24628.7008, + -25243.3267, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24628.7008, + -25243.3267, + 839.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24528.7008, + -25243.3267, + 839.1579 + ], + "actual_end_pos": [ + -24528.7008, + -25243.3267, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24528.7008, + -25243.3267, + 839.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24428.7008, + -25243.3267, + 839.1579 + ], + "actual_end_pos": [ + -24428.7008, + -25243.3267, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24428.7008, + -25243.3267, + 839.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24328.7008, + -25243.3267, + 839.1579 + ], + "actual_end_pos": [ + -24328.7008, + -25243.3267, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24328.7008, + -25243.3267, + 839.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24228.7008, + -25243.3267, + 839.1579 + ], + "actual_end_pos": [ + -24228.7008, + -25243.3267, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24228.7008, + -25243.3267, + 839.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24228.7008, + -25243.3267, + 839.1579 + ], + "actual_end_pos": [ + -24228.7008, + -25243.3267, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24228.7008, + -25243.3267, + 839.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24228.7008, + -25243.3267, + 839.1579 + ], + "actual_end_pos": [ + -24228.7008, + -25243.3267, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24228.7008, + -25243.3267, + 839.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24228.7008, + -25243.3267, + 839.1579 + ], + "actual_end_pos": [ + -24228.7008, + -25243.3267, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24228.7008, + -25243.3267, + 839.1579 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -24228.7008, + -25243.3267, + 839.1579 + ], + "actual_end_pos": [ + -24228.7008, + -25243.3267, + 839.1579 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260415_212208__traj_002457_meta.json b/loop_easy/run_20260415_212208__traj_002457_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..21b270282b2c2cb897a5a28000c6c779dec88fa2 --- /dev/null +++ b/loop_easy/run_20260415_212208__traj_002457_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2457, + "episode_id": 0, + "state_id": 1814, + "sample_index": 1814, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -23840.0, + -24440.0, + 800.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_right", + "move_forward", + "turn_right", + "move_forward", + "move_right", + "move_backward", + "turn_left", + "no_op", + "no_op", + "turn_left", + "move_forward", + "move_right", + "move_right", + "no_op", + "look_up", + "turn_right", + "turn_right", + "move_left", + "move_forward", + "move_forward", + "move_right", + "move_forward", + "move_forward", + "move_left", + "move_left", + "no_op", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -23840.0, + -24440.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -23840.0, + -24440.0, + 800.0 + ], + "actual_end_pos": [ + -23840.0, + -24440.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -23840.0, + -24440.0, + 800.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -23743.4074, + -24465.8819, + 800.0 + ], + "actual_end_pos": [ + -23743.4074, + -24465.8819, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -23743.4074, + -24465.8819, + 800.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -23769.2893, + -24562.4745, + 800.0 + ], + "actual_end_pos": [ + -23769.2893, + -24562.4745, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -23769.2893, + -24562.4745, + 800.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -23769.2893, + -24562.4745, + 800.0 + ], + "actual_end_pos": [ + -23769.2893, + -24562.4745, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -23769.2893, + -24562.4745, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -23769.2893, + -24662.4745, + 800.0 + ], + "actual_end_pos": [ + -23769.2893, + -24662.4745, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -23769.2893, + -24662.4745, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -23669.2893, + -24662.4745, + 800.0 + ], + "actual_end_pos": [ + -23669.2893, + -24662.4745, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23669.2893, + -24662.4745, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -23669.2893, + -24562.4745, + 800.0 + ], + "actual_end_pos": [ + -23669.2893, + -24562.4745, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -23669.2893, + -24562.4745, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -23669.2893, + -24562.4745, + 800.0 + ], + "actual_end_pos": [ + -23669.2893, + -24562.4745, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23669.2893, + -24562.4745, + 800.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -23669.2893, + -24562.4745, + 800.0 + ], + "actual_end_pos": [ + -23669.2893, + -24562.4745, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23669.2893, + -24562.4745, + 800.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -23669.2893, + -24562.4745, + 800.0 + ], + "actual_end_pos": [ + -23669.2893, + -24562.4745, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -23669.2893, + -24562.4745, + 800.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -23669.2893, + -24562.4745, + 800.0 + ], + "actual_end_pos": [ + -23669.2893, + -24562.4745, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -23669.2893, + -24562.4745, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -23719.2893, + -24649.077, + 800.0 + ], + "actual_end_pos": [ + -23719.2893, + -24649.077, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -23719.2893, + -24649.077, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -23632.6868, + -24699.077, + 800.0 + ], + "actual_end_pos": [ + -23632.6868, + -24699.077, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -23632.6868, + -24699.077, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -23546.0842, + -24749.077, + 800.0 + ], + "actual_end_pos": [ + -23546.0842, + -24749.077, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23546.0842, + -24749.077, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -23546.0842, + -24749.077, + 800.0 + ], + "actual_end_pos": [ + -23546.0842, + -24749.077, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -23546.0842, + -24749.077, + 800.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -23546.0842, + -24749.077, + 800.0 + ], + "actual_end_pos": [ + -23546.0842, + -24749.077, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -23546.0842, + -24749.077, + 800.0 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + -23546.0842, + -24749.077, + 800.0 + ], + "actual_end_pos": [ + -23546.0842, + -24749.077, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -23546.0842, + -24749.077, + 800.0 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -23546.0842, + -24749.077, + 800.0 + ], + "actual_end_pos": [ + -23546.0842, + -24749.077, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -23546.0842, + -24749.077, + 800.0 + ], + "start_rot": [ + 7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + -23646.0842, + -24749.077, + 800.0 + ], + "actual_end_pos": [ + -23646.0842, + -24749.077, + 800.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -23646.0842, + -24749.077, + 800.0 + ], + "start_rot": [ + 7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + -23646.0842, + -24848.2215, + 813.0526 + ], + "actual_end_pos": [ + -23646.0842, + -24848.2215, + 813.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -23646.0842, + -24848.2215, + 813.0526 + ], + "start_rot": [ + 7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + -23646.0842, + -24947.366, + 826.1052 + ], + "actual_end_pos": [ + -23646.0842, + -24947.366, + 826.1052 + ], + "actual_end_rot": [ + 7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -23646.0842, + -24947.366, + 826.1052 + ], + "start_rot": [ + 7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + -23546.0842, + -24947.366, + 826.1052 + ], + "actual_end_pos": [ + -23546.0842, + -24947.366, + 826.1052 + ], + "actual_end_rot": [ + 7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -23546.0842, + -24947.366, + 826.1052 + ], + "start_rot": [ + 7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + -23546.0842, + -25046.5105, + 839.1579 + ], + "actual_end_pos": [ + -23546.0842, + -25046.5105, + 839.1579 + ], + "actual_end_rot": [ + 7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -23546.0842, + -25046.5105, + 839.1579 + ], + "start_rot": [ + 7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + -23546.0842, + -25145.655, + 852.2105 + ], + "actual_end_pos": [ + -23546.0842, + -25145.655, + 852.2105 + ], + "actual_end_rot": [ + 7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -23546.0842, + -25145.655, + 852.2105 + ], + "start_rot": [ + 7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + -23646.0842, + -25145.655, + 852.2105 + ], + "actual_end_pos": [ + -23646.0842, + -25145.655, + 852.2105 + ], + "actual_end_rot": [ + 7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -23646.0842, + -25145.655, + 852.2105 + ], + "start_rot": [ + 7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + -23746.0842, + -25145.655, + 852.2105 + ], + "actual_end_pos": [ + -23746.0842, + -25145.655, + 852.2105 + ], + "actual_end_rot": [ + 7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23746.0842, + -25145.655, + 852.2105 + ], + "start_rot": [ + 7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + -23746.0842, + -25145.655, + 852.2105 + ], + "actual_end_pos": [ + -23746.0842, + -25145.655, + 852.2105 + ], + "actual_end_rot": [ + 7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -23746.0842, + -25145.655, + 852.2105 + ], + "start_rot": [ + 7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + -23746.0842, + -25145.655, + 852.2105 + ], + "actual_end_pos": [ + -23746.0842, + -25145.655, + 852.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23746.0842, + -25145.655, + 852.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -23746.0842, + -25045.655, + 852.2105 + ], + "actual_end_pos": [ + -23746.0842, + -25045.655, + 852.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23746.0842, + -25045.655, + 852.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -23746.0842, + -24945.655, + 852.2105 + ], + "actual_end_pos": [ + -23746.0842, + -24945.655, + 852.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23746.0842, + -24945.655, + 852.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -23746.0842, + -24845.655, + 852.2105 + ], + "actual_end_pos": [ + -23746.0842, + -24845.655, + 852.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23746.0842, + -24845.655, + 852.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -23746.0842, + -24745.655, + 852.2105 + ], + "actual_end_pos": [ + -23746.0842, + -24745.655, + 852.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23746.0842, + -24745.655, + 852.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -23746.0842, + -24645.655, + 852.2105 + ], + "actual_end_pos": [ + -23746.0842, + -24645.655, + 852.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23746.0842, + -24645.655, + 852.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -23746.0842, + -24545.655, + 852.2105 + ], + "actual_end_pos": [ + -23746.0842, + -24545.655, + 852.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23746.0842, + -24545.655, + 852.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -23746.0842, + -24445.655, + 852.2105 + ], + "actual_end_pos": [ + -23746.0842, + -24445.655, + 852.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -23746.0842, + -24445.655, + 852.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -23846.0842, + -24445.655, + 852.2105 + ], + "actual_end_pos": [ + -23846.0842, + -24445.655, + 852.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23846.0842, + -24445.655, + 852.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -23846.0842, + -24445.655, + 852.2105 + ], + "actual_end_pos": [ + -23846.0842, + -24445.655, + 852.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23846.0842, + -24445.655, + 852.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -23846.0842, + -24445.655, + 852.2105 + ], + "actual_end_pos": [ + -23846.0842, + -24445.655, + 852.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23846.0842, + -24445.655, + 852.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -23846.0842, + -24445.655, + 852.2105 + ], + "actual_end_pos": [ + -23846.0842, + -24445.655, + 852.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23846.0842, + -24445.655, + 852.2105 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -23846.0842, + -24445.655, + 852.2105 + ], + "actual_end_pos": [ + -23846.0842, + -24445.655, + 852.2105 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260415_212208__traj_002472_meta.json b/loop_easy/run_20260415_212208__traj_002472_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..828d1515d7a65aab8171ac84cd3ac65cb3a2e49a --- /dev/null +++ b/loop_easy/run_20260415_212208__traj_002472_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2472, + "episode_id": 0, + "state_id": 1827, + "sample_index": 1827, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -23840.0, + -23640.0, + 800.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_right", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "move_left", + "move_left", + "turn_right", + "no_op", + "move_backward", + "move_backward", + "no_op", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "move_left", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -23840.0, + -23640.0, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23910.7107, + -23569.2893, + 800.0 + ], + "actual_end_pos": [ + -23910.7107, + -23569.2893, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -23910.7107, + -23569.2893, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23981.4214, + -23498.5786, + 800.0 + ], + "actual_end_pos": [ + -23981.4214, + -23498.5786, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -23981.4214, + -23498.5786, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23981.4214, + -23498.5786, + 800.0 + ], + "actual_end_pos": [ + -23981.4214, + -23498.5786, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -23981.4214, + -23498.5786, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -23981.4214, + -23498.5786, + 800.0 + ], + "actual_end_pos": [ + -23981.4214, + -23498.5786, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -23981.4214, + -23498.5786, + 800.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -24078.0139, + -23524.4605, + 800.0 + ], + "actual_end_pos": [ + -24078.0139, + -23524.4605, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24078.0139, + -23524.4605, + 800.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -24103.8958, + -23427.868, + 800.0 + ], + "actual_end_pos": [ + -24103.8958, + -23427.868, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24103.8958, + -23427.868, + 800.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -24129.7777, + -23331.2754, + 800.0 + ], + "actual_end_pos": [ + -24129.7777, + -23331.2754, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24129.7777, + -23331.2754, + 800.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -24033.1852, + -23305.3935, + 800.0 + ], + "actual_end_pos": [ + -24033.1852, + -23305.3935, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24033.1852, + -23305.3935, + 800.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -24059.0671, + -23208.8009, + 800.0 + ], + "actual_end_pos": [ + -24059.0671, + -23208.8009, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24059.0671, + -23208.8009, + 800.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -23962.4745, + -23182.919, + 800.0 + ], + "actual_end_pos": [ + -23962.4745, + -23182.919, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -23962.4745, + -23182.919, + 800.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -23865.8819, + -23157.0371, + 800.0 + ], + "actual_end_pos": [ + -23865.8819, + -23157.0371, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -23865.8819, + -23157.0371, + 800.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -23865.8819, + -23157.0371, + 800.0 + ], + "actual_end_pos": [ + -23865.8819, + -23157.0371, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23865.8819, + -23157.0371, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -23865.8819, + -23157.0371, + 800.0 + ], + "actual_end_pos": [ + -23865.8819, + -23157.0371, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23865.8819, + -23157.0371, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -23815.8819, + -23243.6396, + 800.0 + ], + "actual_end_pos": [ + -23815.8819, + -23243.6396, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23815.8819, + -23243.6396, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -23765.8819, + -23330.2422, + 800.0 + ], + "actual_end_pos": [ + -23765.8819, + -23330.2422, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23765.8819, + -23330.2422, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -23765.8819, + -23330.2422, + 800.0 + ], + "actual_end_pos": [ + -23765.8819, + -23330.2422, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -23765.8819, + -23330.2422, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -23815.8819, + -23243.6396, + 800.0 + ], + "actual_end_pos": [ + -23815.8819, + -23243.6396, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -23815.8819, + -23243.6396, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -23865.8819, + -23157.0371, + 800.0 + ], + "actual_end_pos": [ + -23865.8819, + -23157.0371, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -23865.8819, + -23157.0371, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -23915.8819, + -23070.4345, + 800.0 + ], + "actual_end_pos": [ + -23915.8819, + -23070.4345, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -23915.8819, + -23070.4345, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -23915.8819, + -23070.4345, + 800.0 + ], + "actual_end_pos": [ + -23915.8819, + -23070.4345, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -23915.8819, + -23070.4345, + 800.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -23819.2893, + -23044.5526, + 800.0 + ], + "actual_end_pos": [ + -23819.2893, + -23044.5526, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -23819.2893, + -23044.5526, + 800.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -23819.2893, + -23044.5526, + 800.0 + ], + "actual_end_pos": [ + -23819.2893, + -23044.5526, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -23819.2893, + -23044.5526, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -23819.2893, + -23044.5526, + 800.0 + ], + "actual_end_pos": [ + -23819.2893, + -23044.5526, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23819.2893, + -23044.5526, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23748.5786, + -23115.2633, + 800.0 + ], + "actual_end_pos": [ + -23748.5786, + -23115.2633, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23748.5786, + -23115.2633, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23677.868, + -23185.974, + 800.0 + ], + "actual_end_pos": [ + -23677.868, + -23185.974, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23677.868, + -23185.974, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23607.1573, + -23256.6847, + 800.0 + ], + "actual_end_pos": [ + -23607.1573, + -23256.6847, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23607.1573, + -23256.6847, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23536.4466, + -23327.3954, + 800.0 + ], + "actual_end_pos": [ + -23536.4466, + -23327.3954, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -23536.4466, + -23327.3954, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23607.1573, + -23398.106, + 800.0 + ], + "actual_end_pos": [ + -23607.1573, + -23398.106, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -23607.1573, + -23398.106, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23677.868, + -23468.8167, + 800.0 + ], + "actual_end_pos": [ + -23677.868, + -23468.8167, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -23677.868, + -23468.8167, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23748.5786, + -23539.5274, + 800.0 + ], + "actual_end_pos": [ + -23748.5786, + -23539.5274, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -23748.5786, + -23539.5274, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "actual_end_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "actual_end_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "actual_end_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "actual_end_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "actual_end_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "actual_end_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "actual_end_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "actual_end_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "actual_end_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "actual_end_pos": [ + -23819.2893, + -23610.2381, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260419_133642__traj_000111_meta.json b/loop_easy/run_20260419_133642__traj_000111_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e41efb90e8c30500e1e8301fa76e0c8c6638ec70 --- /dev/null +++ b/loop_easy/run_20260419_133642__traj_000111_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 111, + "episode_id": 0, + "state_id": 76, + "sample_index": 76, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2555.0, + -1305.0, + 250.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "move_forward", + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_backward", + "move_left", + "no_op", + "turn_right", + "no_op", + "move_backward", + "move_forward", + "turn_right", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_backward", + "move_right", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2555.0, + -1305.0, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2555.0, + -1305.0, + 250.0 + ], + "actual_end_pos": [ + 2555.0, + -1305.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2555.0, + -1305.0, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2455.0, + -1305.0, + 250.0 + ], + "actual_end_pos": [ + 2455.0, + -1305.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2455.0, + -1305.0, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2455.0, + -1305.0, + 250.0 + ], + "actual_end_pos": [ + 2455.0, + -1305.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2455.0, + -1305.0, + 250.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 2455.0, + -1305.0, + 250.0 + ], + "actual_end_pos": [ + 2455.0, + -1305.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2455.0, + -1305.0, + 250.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 2405.0, + -1391.6025, + 250.0 + ], + "actual_end_pos": [ + 2405.0, + -1391.6025, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2405.0, + -1391.6025, + 250.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 2355.0, + -1478.2051, + 250.0 + ], + "actual_end_pos": [ + 2355.0, + -1478.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2355.0, + -1478.2051, + 250.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 2441.6025, + -1528.2051, + 250.0 + ], + "actual_end_pos": [ + 2441.6025, + -1528.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2441.6025, + -1528.2051, + 250.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 2528.2051, + -1578.2051, + 250.0 + ], + "actual_end_pos": [ + 2528.2051, + -1578.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2528.2051, + -1578.2051, + 250.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 2614.8076, + -1628.2051, + 250.0 + ], + "actual_end_pos": [ + 2614.8076, + -1628.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2614.8076, + -1628.2051, + 250.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 2564.8076, + -1714.8076, + 250.0 + ], + "actual_end_pos": [ + 2564.8076, + -1714.8076, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2564.8076, + -1714.8076, + 250.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 2651.4102, + -1764.8076, + 250.0 + ], + "actual_end_pos": [ + 2651.4102, + -1764.8076, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2651.4102, + -1764.8076, + 250.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 2701.4102, + -1678.2051, + 250.0 + ], + "actual_end_pos": [ + 2701.4102, + -1678.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2701.4102, + -1678.2051, + 250.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 2701.4102, + -1678.2051, + 250.0 + ], + "actual_end_pos": [ + 2701.4102, + -1678.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2701.4102, + -1678.2051, + 250.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 2701.4102, + -1678.2051, + 250.0 + ], + "actual_end_pos": [ + 2701.4102, + -1678.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2701.4102, + -1678.2051, + 250.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 2701.4102, + -1678.2051, + 250.0 + ], + "actual_end_pos": [ + 2701.4102, + -1678.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2701.4102, + -1678.2051, + 250.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 2798.0027, + -1704.087, + 250.0 + ], + "actual_end_pos": [ + 2798.0027, + -1704.087, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2798.0027, + -1704.087, + 250.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 2701.4102, + -1678.2051, + 250.0 + ], + "actual_end_pos": [ + 2701.4102, + -1678.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2701.4102, + -1678.2051, + 250.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 2701.4102, + -1678.2051, + 250.0 + ], + "actual_end_pos": [ + 2701.4102, + -1678.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2701.4102, + -1678.2051, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2701.4102, + -1578.2051, + 250.0 + ], + "actual_end_pos": [ + 2701.4102, + -1578.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2701.4102, + -1578.2051, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2701.4102, + -1478.2051, + 250.0 + ], + "actual_end_pos": [ + 2701.4102, + -1478.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2701.4102, + -1478.2051, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2701.4102, + -1378.2051, + 250.0 + ], + "actual_end_pos": [ + 2701.4102, + -1378.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2701.4102, + -1378.2051, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2701.4102, + -1278.2051, + 250.0 + ], + "actual_end_pos": [ + 2701.4102, + -1278.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2701.4102, + -1278.2051, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2701.4102, + -1178.2051, + 250.0 + ], + "actual_end_pos": [ + 2701.4102, + -1178.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2701.4102, + -1178.2051, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2701.4102, + -1178.2051, + 250.0 + ], + "actual_end_pos": [ + 2701.4102, + -1178.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2701.4102, + -1178.2051, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2701.4102, + -1178.2051, + 250.0 + ], + "actual_end_pos": [ + 2701.4102, + -1178.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2701.4102, + -1178.2051, + 250.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2788.0127, + -1128.2051, + 250.0 + ], + "actual_end_pos": [ + 2788.0127, + -1128.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2788.0127, + -1128.2051, + 250.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2838.0127, + -1214.8076, + 250.0 + ], + "actual_end_pos": [ + 2838.0127, + -1214.8076, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2838.0127, + -1214.8076, + 250.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2838.0127, + -1214.8076, + 250.0 + ], + "actual_end_pos": [ + 2838.0127, + -1214.8076, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2838.0127, + -1214.8076, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2838.0127, + -1214.8076, + 250.0 + ], + "actual_end_pos": [ + 2838.0127, + -1214.8076, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2838.0127, + -1214.8076, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2738.0127, + -1214.8076, + 250.0 + ], + "actual_end_pos": [ + 2738.0127, + -1214.8076, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2738.0127, + -1214.8076, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2638.0127, + -1214.8076, + 250.0 + ], + "actual_end_pos": [ + 2638.0127, + -1214.8076, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2638.0127, + -1214.8076, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2538.0127, + -1214.8076, + 250.0 + ], + "actual_end_pos": [ + 2538.0127, + -1214.8076, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2538.0127, + -1214.8076, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "actual_end_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "actual_end_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "actual_end_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "actual_end_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "actual_end_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "actual_end_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "actual_end_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "actual_end_pos": [ + 2538.0127, + -1314.8076, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260419_133642__traj_000186_meta.json b/loop_easy/run_20260419_133642__traj_000186_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dcb3ed14e85289c76d083c6cdd4ff54431e93752 --- /dev/null +++ b/loop_easy/run_20260419_133642__traj_000186_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 186, + "episode_id": 0, + "state_id": 132, + "sample_index": 132, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2680.0, + -1430.0, + 250.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_right", + "move_forward", + "no_op", + "turn_right", + "move_left", + "move_backward", + "move_left", + "move_left", + "move_backward", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_left", + "turn_left", + "turn_left", + "move_right", + "move_backward", + "move_right", + "move_forward", + "move_forward", + "move_left", + "move_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2680.0, + -1430.0, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2580.0, + -1430.0, + 250.0 + ], + "actual_end_pos": [ + 2580.0, + -1430.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2580.0, + -1430.0, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2480.0, + -1430.0, + 250.0 + ], + "actual_end_pos": [ + 2480.0, + -1430.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2480.0, + -1430.0, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2480.0, + -1530.0, + 250.0 + ], + "actual_end_pos": [ + 2480.0, + -1530.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2480.0, + -1530.0, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2380.0, + -1530.0, + 250.0 + ], + "actual_end_pos": [ + 2380.0, + -1530.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2380.0, + -1530.0, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2380.0, + -1530.0, + 250.0 + ], + "actual_end_pos": [ + 2380.0, + -1530.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2380.0, + -1530.0, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2380.0, + -1530.0, + 250.0 + ], + "actual_end_pos": [ + 2380.0, + -1530.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2380.0, + -1530.0, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2354.1181, + -1433.4074, + 250.0 + ], + "actual_end_pos": [ + 2354.1181, + -1433.4074, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2354.1181, + -1433.4074, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2450.7107, + -1407.5255, + 250.0 + ], + "actual_end_pos": [ + 2450.7107, + -1407.5255, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2450.7107, + -1407.5255, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2424.8288, + -1310.9329, + 250.0 + ], + "actual_end_pos": [ + 2424.8288, + -1310.9329, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2424.8288, + -1310.9329, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2398.9469, + -1214.3403, + 250.0 + ], + "actual_end_pos": [ + 2398.9469, + -1214.3403, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2398.9469, + -1214.3403, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2495.5394, + -1188.4584, + 250.0 + ], + "actual_end_pos": [ + 2495.5394, + -1188.4584, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2495.5394, + -1188.4584, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2521.4213, + -1285.051, + 250.0 + ], + "actual_end_pos": [ + 2521.4213, + -1285.051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2521.4213, + -1285.051, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2547.3033, + -1381.6436, + 250.0 + ], + "actual_end_pos": [ + 2547.3033, + -1381.6436, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2547.3033, + -1381.6436, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2547.3033, + -1381.6436, + 250.0 + ], + "actual_end_pos": [ + 2547.3033, + -1381.6436, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2547.3033, + -1381.6436, + 250.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2547.3033, + -1381.6436, + 250.0 + ], + "actual_end_pos": [ + 2547.3033, + -1381.6436, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2547.3033, + -1381.6436, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2476.5926, + -1310.9329, + 250.0 + ], + "actual_end_pos": [ + 2476.5926, + -1310.9329, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2476.5926, + -1310.9329, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2476.5926, + -1310.9329, + 250.0 + ], + "actual_end_pos": [ + 2476.5926, + -1310.9329, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2476.5926, + -1310.9329, + 250.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2476.5926, + -1310.9329, + 250.0 + ], + "actual_end_pos": [ + 2476.5926, + -1310.9329, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2476.5926, + -1310.9329, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2502.4745, + -1407.5255, + 250.0 + ], + "actual_end_pos": [ + 2502.4745, + -1407.5255, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2502.4745, + -1407.5255, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2599.0671, + -1381.6436, + 250.0 + ], + "actual_end_pos": [ + 2599.0671, + -1381.6436, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2599.0671, + -1381.6436, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2624.949, + -1478.2362, + 250.0 + ], + "actual_end_pos": [ + 2624.949, + -1478.2362, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2624.949, + -1478.2362, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2528.3564, + -1504.1181, + 250.0 + ], + "actual_end_pos": [ + 2528.3564, + -1504.1181, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2528.3564, + -1504.1181, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2431.7638, + -1530.0, + 250.0 + ], + "actual_end_pos": [ + 2431.7638, + -1530.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2431.7638, + -1530.0, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2405.8819, + -1433.4074, + 250.0 + ], + "actual_end_pos": [ + 2405.8819, + -1433.4074, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2405.8819, + -1433.4074, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2380.0, + -1336.8148, + 250.0 + ], + "actual_end_pos": [ + 2380.0, + -1336.8148, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2380.0, + -1336.8148, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2380.0, + -1336.8148, + 250.0 + ], + "actual_end_pos": [ + 2380.0, + -1336.8148, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2380.0, + -1336.8148, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2480.0, + -1336.8148, + 250.0 + ], + "actual_end_pos": [ + 2480.0, + -1336.8148, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2480.0, + -1336.8148, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2580.0, + -1336.8148, + 250.0 + ], + "actual_end_pos": [ + 2580.0, + -1336.8148, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2580.0, + -1336.8148, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2680.0, + -1336.8148, + 250.0 + ], + "actual_end_pos": [ + 2680.0, + -1336.8148, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2680.0, + -1336.8148, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_pos": [ + 2680.0, + -1436.8148, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260419_133642__traj_000462_meta.json b/loop_easy/run_20260419_133642__traj_000462_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3640aa2ffa818d19f448c8af6f85ee87779416d5 --- /dev/null +++ b/loop_easy/run_20260419_133642__traj_000462_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 462, + "episode_id": 0, + "state_id": 340, + "sample_index": 340, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2930.0, + -180.0, + 250.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_left", + "move_forward", + "turn_left", + "move_backward", + "turn_right", + "move_forward", + "no_op", + "no_op", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "turn_left", + "move_right", + "turn_left", + "move_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2930.0, + -180.0, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2930.0, + -180.0, + 250.0 + ], + "actual_end_pos": [ + 2930.0, + -180.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2930.0, + -180.0, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2904.1181, + -83.4074, + 250.0 + ], + "actual_end_pos": [ + 2904.1181, + -83.4074, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2904.1181, + -83.4074, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2807.5255, + -109.2893, + 250.0 + ], + "actual_end_pos": [ + 2807.5255, + -109.2893, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2807.5255, + -109.2893, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2807.5255, + -109.2893, + 250.0 + ], + "actual_end_pos": [ + 2807.5255, + -109.2893, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2807.5255, + -109.2893, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2907.5255, + -109.2893, + 250.0 + ], + "actual_end_pos": [ + 2907.5255, + -109.2893, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2907.5255, + -109.2893, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2907.5255, + -109.2893, + 250.0 + ], + "actual_end_pos": [ + 2907.5255, + -109.2893, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2907.5255, + -109.2893, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2810.9329, + -135.1712, + 250.0 + ], + "actual_end_pos": [ + 2810.9329, + -135.1712, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2810.9329, + -135.1712, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2810.9329, + -135.1712, + 250.0 + ], + "actual_end_pos": [ + 2810.9329, + -135.1712, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2810.9329, + -135.1712, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2810.9329, + -135.1712, + 250.0 + ], + "actual_end_pos": [ + 2810.9329, + -135.1712, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2810.9329, + -135.1712, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2810.9329, + -135.1712, + 250.0 + ], + "actual_end_pos": [ + 2810.9329, + -135.1712, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2810.9329, + -135.1712, + 250.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2810.9329, + -135.1712, + 250.0 + ], + "actual_end_pos": [ + 2810.9329, + -135.1712, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2810.9329, + -135.1712, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2810.9329, + -135.1712, + 250.0 + ], + "actual_end_pos": [ + 2810.9329, + -135.1712, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2810.9329, + -135.1712, + 250.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2724.3304, + -85.1712, + 250.0 + ], + "actual_end_pos": [ + 2724.3304, + -85.1712, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2724.3304, + -85.1712, + 250.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2724.3304, + -85.1712, + 250.0 + ], + "actual_end_pos": [ + 2724.3304, + -85.1712, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2724.3304, + -85.1712, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2795.0411, + -155.8819, + 250.0 + ], + "actual_end_pos": [ + 2795.0411, + -155.8819, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2795.0411, + -155.8819, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2795.0411, + -155.8819, + 250.0 + ], + "actual_end_pos": [ + 2795.0411, + -155.8819, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2795.0411, + -155.8819, + 250.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2745.0411, + -69.2794, + 250.0 + ], + "actual_end_pos": [ + 2745.0411, + -69.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2745.0411, + -69.2794, + 250.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2745.0411, + -69.2794, + 250.0 + ], + "actual_end_pos": [ + 2745.0411, + -69.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2745.0411, + -69.2794, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2745.0411, + -69.2794, + 250.0 + ], + "actual_end_pos": [ + 2745.0411, + -69.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2745.0411, + -69.2794, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2845.0411, + -69.2794, + 250.0 + ], + "actual_end_pos": [ + 2845.0411, + -69.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2845.0411, + -69.2794, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2945.0411, + -69.2794, + 250.0 + ], + "actual_end_pos": [ + 2945.0411, + -69.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2945.0411, + -69.2794, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_pos": [ + 2945.0411, + -169.2794, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260419_133642__traj_000489_meta.json b/loop_easy/run_20260419_133642__traj_000489_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cd88acc461df1be0b9eba1b923c357e2fd062d27 --- /dev/null +++ b/loop_easy/run_20260419_133642__traj_000489_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 489, + "episode_id": 0, + "state_id": 360, + "sample_index": 360, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2930.0, + 445.0, + 250.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_left", + "turn_right", + "move_left", + "move_left", + "move_forward", + "move_forward", + "move_left", + "turn_right", + "move_forward", + "move_forward", + "move_left", + "turn_left", + "move_right", + "no_op", + "move_right", + "move_right", + "move_forward", + "turn_left", + "move_backward", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_forward", + "move_right", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2930.0, + 445.0, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3030.0, + 445.0, + 250.0 + ], + "actual_end_pos": [ + 3030.0, + 445.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3030.0, + 445.0, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3030.0, + 345.0, + 250.0 + ], + "actual_end_pos": [ + 3030.0, + 345.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3030.0, + 345.0, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3030.0, + 345.0, + 250.0 + ], + "actual_end_pos": [ + 3030.0, + 345.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3030.0, + 345.0, + 250.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3055.8819, + 248.4074, + 250.0 + ], + "actual_end_pos": [ + 3055.8819, + 248.4074, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3055.8819, + 248.4074, + 250.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3081.7638, + 151.8148, + 250.0 + ], + "actual_end_pos": [ + 3081.7638, + 151.8148, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3081.7638, + 151.8148, + 250.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3178.3564, + 177.6967, + 250.0 + ], + "actual_end_pos": [ + 3178.3564, + 177.6967, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3178.3564, + 177.6967, + 250.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3274.949, + 203.5786, + 250.0 + ], + "actual_end_pos": [ + 3274.949, + 203.5786, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3274.949, + 203.5786, + 250.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3300.8309, + 106.9861, + 250.0 + ], + "actual_end_pos": [ + 3300.8309, + 106.9861, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3300.8309, + 106.9861, + 250.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3300.8309, + 106.9861, + 250.0 + ], + "actual_end_pos": [ + 3300.8309, + 106.9861, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3300.8309, + 106.9861, + 250.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3387.4334, + 156.9861, + 250.0 + ], + "actual_end_pos": [ + 3387.4334, + 156.9861, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3387.4334, + 156.9861, + 250.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3474.036, + 206.9861, + 250.0 + ], + "actual_end_pos": [ + 3474.036, + 206.9861, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3474.036, + 206.9861, + 250.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3524.036, + 120.3835, + 250.0 + ], + "actual_end_pos": [ + 3524.036, + 120.3835, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3524.036, + 120.3835, + 250.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3524.036, + 120.3835, + 250.0 + ], + "actual_end_pos": [ + 3524.036, + 120.3835, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3524.036, + 120.3835, + 250.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3498.1541, + 216.9761, + 250.0 + ], + "actual_end_pos": [ + 3498.1541, + 216.9761, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3498.1541, + 216.9761, + 250.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3498.1541, + 216.9761, + 250.0 + ], + "actual_end_pos": [ + 3498.1541, + 216.9761, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3498.1541, + 216.9761, + 250.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3472.2722, + 313.5687, + 250.0 + ], + "actual_end_pos": [ + 3472.2722, + 313.5687, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3472.2722, + 313.5687, + 250.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3446.3902, + 410.1613, + 250.0 + ], + "actual_end_pos": [ + 3446.3902, + 410.1613, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3446.3902, + 410.1613, + 250.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3542.9828, + 436.0432, + 250.0 + ], + "actual_end_pos": [ + 3542.9828, + 436.0432, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3542.9828, + 436.0432, + 250.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3542.9828, + 436.0432, + 250.0 + ], + "actual_end_pos": [ + 3542.9828, + 436.0432, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3542.9828, + 436.0432, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3442.9828, + 436.0432, + 250.0 + ], + "actual_end_pos": [ + 3442.9828, + 436.0432, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3442.9828, + 436.0432, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3442.9828, + 336.0432, + 250.0 + ], + "actual_end_pos": [ + 3442.9828, + 336.0432, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3442.9828, + 336.0432, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3442.9828, + 236.0432, + 250.0 + ], + "actual_end_pos": [ + 3442.9828, + 236.0432, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3442.9828, + 236.0432, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3442.9828, + 236.0432, + 250.0 + ], + "actual_end_pos": [ + 3442.9828, + 236.0432, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3442.9828, + 236.0432, + 250.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3442.9828, + 236.0432, + 250.0 + ], + "actual_end_pos": [ + 3442.9828, + 236.0432, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3442.9828, + 236.0432, + 250.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3529.5854, + 286.0432, + 250.0 + ], + "actual_end_pos": [ + 3529.5854, + 286.0432, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3529.5854, + 286.0432, + 250.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3479.5854, + 372.6457, + 250.0 + ], + "actual_end_pos": [ + 3479.5854, + 372.6457, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3479.5854, + 372.6457, + 250.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3479.5854, + 372.6457, + 250.0 + ], + "actual_end_pos": [ + 3479.5854, + 372.6457, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3479.5854, + 372.6457, + 250.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3479.5854, + 372.6457, + 250.0 + ], + "actual_end_pos": [ + 3479.5854, + 372.6457, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3479.5854, + 372.6457, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3379.5854, + 372.6457, + 250.0 + ], + "actual_end_pos": [ + 3379.5854, + 372.6457, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3379.5854, + 372.6457, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3279.5854, + 372.6457, + 250.0 + ], + "actual_end_pos": [ + 3279.5854, + 372.6457, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3279.5854, + 372.6457, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3179.5854, + 372.6457, + 250.0 + ], + "actual_end_pos": [ + 3179.5854, + 372.6457, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3179.5854, + 372.6457, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3079.5854, + 372.6457, + 250.0 + ], + "actual_end_pos": [ + 3079.5854, + 372.6457, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3079.5854, + 372.6457, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2979.5854, + 372.6457, + 250.0 + ], + "actual_end_pos": [ + 2979.5854, + 372.6457, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2979.5854, + 372.6457, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2979.5854, + 472.6457, + 250.0 + ], + "actual_end_pos": [ + 2979.5854, + 472.6457, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2979.5854, + 472.6457, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2979.5854, + 472.6457, + 250.0 + ], + "actual_end_pos": [ + 2979.5854, + 472.6457, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2979.5854, + 472.6457, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2979.5854, + 472.6457, + 250.0 + ], + "actual_end_pos": [ + 2979.5854, + 472.6457, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2979.5854, + 472.6457, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2979.5854, + 472.6457, + 250.0 + ], + "actual_end_pos": [ + 2979.5854, + 472.6457, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2979.5854, + 472.6457, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2979.5854, + 472.6457, + 250.0 + ], + "actual_end_pos": [ + 2979.5854, + 472.6457, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2979.5854, + 472.6457, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2979.5854, + 472.6457, + 250.0 + ], + "actual_end_pos": [ + 2979.5854, + 472.6457, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2979.5854, + 472.6457, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2979.5854, + 472.6457, + 250.0 + ], + "actual_end_pos": [ + 2979.5854, + 472.6457, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260419_133642__traj_000609_meta.json b/loop_easy/run_20260419_133642__traj_000609_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e8fc55590185db4584dad1eceb0d11947e36a1ab --- /dev/null +++ b/loop_easy/run_20260419_133642__traj_000609_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 609, + "episode_id": 0, + "state_id": 453, + "sample_index": 453, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 3055.0, + 320.0, + 250.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_left", + "move_backward", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "move_left", + "move_forward", + "move_forward", + "move_right", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2984.2893, + 249.2893, + 250.0 + ], + "actual_end_pos": [ + 2984.2893, + 249.2893, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2984.2893, + 249.2893, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2913.5786, + 320.0, + 250.0 + ], + "actual_end_pos": [ + 2913.5786, + 320.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2913.5786, + 320.0, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2984.2893, + 390.7107, + 250.0 + ], + "actual_end_pos": [ + 2984.2893, + 390.7107, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2984.2893, + 390.7107, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2913.5786, + 461.4214, + 250.0 + ], + "actual_end_pos": [ + 2913.5786, + 461.4214, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2913.5786, + 461.4214, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2842.868, + 390.7107, + 250.0 + ], + "actual_end_pos": [ + 2842.868, + 390.7107, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2842.868, + 390.7107, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2772.1573, + 320.0, + 250.0 + ], + "actual_end_pos": [ + 2772.1573, + 320.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2772.1573, + 320.0, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2701.4466, + 249.2893, + 250.0 + ], + "actual_end_pos": [ + 2701.4466, + 249.2893, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2701.4466, + 249.2893, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2630.7359, + 320.0, + 250.0 + ], + "actual_end_pos": [ + 2630.7359, + 320.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2630.7359, + 320.0, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2560.0253, + 390.7107, + 250.0 + ], + "actual_end_pos": [ + 2560.0253, + 390.7107, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2560.0253, + 390.7107, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2489.3146, + 320.0, + 250.0 + ], + "actual_end_pos": [ + 2489.3146, + 320.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2489.3146, + 320.0, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2418.6039, + 249.2893, + 250.0 + ], + "actual_end_pos": [ + 2418.6039, + 249.2893, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2418.6039, + 249.2893, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2489.3146, + 178.5786, + 250.0 + ], + "actual_end_pos": [ + 2489.3146, + 178.5786, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2489.3146, + 178.5786, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2418.6039, + 107.868, + 250.0 + ], + "actual_end_pos": [ + 2418.6039, + 107.868, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2418.6039, + 107.868, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2347.8932, + 37.1573, + 250.0 + ], + "actual_end_pos": [ + 2347.8932, + 37.1573, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2347.8932, + 37.1573, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2347.8932, + 37.1573, + 250.0 + ], + "actual_end_pos": [ + 2347.8932, + 37.1573, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2347.8932, + 37.1573, + 250.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2347.8932, + 37.1573, + 250.0 + ], + "actual_end_pos": [ + 2347.8932, + 37.1573, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2347.8932, + 37.1573, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 2347.8932, + 37.1573, + 250.0 + ], + "actual_end_pos": [ + 2347.8932, + 37.1573, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2347.8932, + 37.1573, + 250.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2347.8932, + 37.1573, + 250.0 + ], + "actual_end_pos": [ + 2347.8932, + 37.1573, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2347.8932, + 37.1573, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2418.6039, + 107.868, + 250.0 + ], + "actual_end_pos": [ + 2418.6039, + 107.868, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2418.6039, + 107.868, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2489.3146, + 178.5786, + 250.0 + ], + "actual_end_pos": [ + 2489.3146, + 178.5786, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2489.3146, + 178.5786, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2560.0253, + 249.2893, + 250.0 + ], + "actual_end_pos": [ + 2560.0253, + 249.2893, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2560.0253, + 249.2893, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2630.7359, + 320.0, + 250.0 + ], + "actual_end_pos": [ + 2630.7359, + 320.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2630.7359, + 320.0, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2701.4466, + 390.7107, + 250.0 + ], + "actual_end_pos": [ + 2701.4466, + 390.7107, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2701.4466, + 390.7107, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2772.1573, + 461.4214, + 250.0 + ], + "actual_end_pos": [ + 2772.1573, + 461.4214, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2772.1573, + 461.4214, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2842.868, + 532.132, + 250.0 + ], + "actual_end_pos": [ + 2842.868, + 532.132, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2842.868, + 532.132, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2913.5786, + 461.4214, + 250.0 + ], + "actual_end_pos": [ + 2913.5786, + 461.4214, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2913.5786, + 461.4214, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2984.2893, + 390.7107, + 250.0 + ], + "actual_end_pos": [ + 2984.2893, + 390.7107, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2984.2893, + 390.7107, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_pos": [ + 3055.0, + 320.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260419_133642__traj_001538_meta.json b/loop_easy/run_20260419_133642__traj_001538_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2a2f16838f9048ee07469e4bbc573ff997994d84 --- /dev/null +++ b/loop_easy/run_20260419_133642__traj_001538_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1538, + "episode_id": 0, + "state_id": 1136, + "sample_index": 1136, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 4055.0, + -180.0, + 250.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "no_op", + "turn_left", + "turn_left", + "move_forward", + "move_left", + "move_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_backward", + "move_right", + "move_right", + "move_forward", + "move_right", + "move_forward", + "move_right", + "move_right", + "turn_right", + "move_backward", + "move_right", + "turn_left", + "turn_left", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4055.0, + -180.0, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4055.0, + -80.0, + 250.0 + ], + "actual_end_pos": [ + 4055.0, + -80.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4055.0, + -80.0, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4055.0, + -80.0, + 250.0 + ], + "actual_end_pos": [ + 4055.0, + -80.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4055.0, + -80.0, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4055.0, + -80.0, + 250.0 + ], + "actual_end_pos": [ + 4055.0, + -80.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4055.0, + -80.0, + 250.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 4055.0, + -80.0, + 250.0 + ], + "actual_end_pos": [ + 4055.0, + -80.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4055.0, + -80.0, + 250.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4141.6025, + -130.0, + 250.0 + ], + "actual_end_pos": [ + 4141.6025, + -130.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4141.6025, + -130.0, + 250.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4091.6025, + -216.6025, + 250.0 + ], + "actual_end_pos": [ + 4091.6025, + -216.6025, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4091.6025, + -216.6025, + 250.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4041.6025, + -303.2051, + 250.0 + ], + "actual_end_pos": [ + 4041.6025, + -303.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4041.6025, + -303.2051, + 250.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4041.6025, + -303.2051, + 250.0 + ], + "actual_end_pos": [ + 4041.6025, + -303.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4041.6025, + -303.2051, + 250.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3970.8919, + -373.9158, + 250.0 + ], + "actual_end_pos": [ + 3970.8919, + -373.9158, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3970.8919, + -373.9158, + 250.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3900.1812, + -444.6264, + 250.0 + ], + "actual_end_pos": [ + 3900.1812, + -444.6264, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3900.1812, + -444.6264, + 250.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3829.4705, + -515.3371, + 250.0 + ], + "actual_end_pos": [ + 3829.4705, + -515.3371, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3829.4705, + -515.3371, + 250.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3758.7598, + -444.6264, + 250.0 + ], + "actual_end_pos": [ + 3758.7598, + -444.6264, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3758.7598, + -444.6264, + 250.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3829.4705, + -373.9158, + 250.0 + ], + "actual_end_pos": [ + 3829.4705, + -373.9158, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3829.4705, + -373.9158, + 250.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3900.1812, + -303.2051, + 250.0 + ], + "actual_end_pos": [ + 3900.1812, + -303.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3900.1812, + -303.2051, + 250.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 3970.8919, + -373.9158, + 250.0 + ], + "actual_end_pos": [ + 3970.8919, + -373.9158, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3970.8919, + -373.9158, + 250.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4041.6025, + -303.2051, + 250.0 + ], + "actual_end_pos": [ + 4041.6025, + -303.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4041.6025, + -303.2051, + 250.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4112.3132, + -373.9158, + 250.0 + ], + "actual_end_pos": [ + 4112.3132, + -373.9158, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4112.3132, + -373.9158, + 250.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4183.0239, + -303.2051, + 250.0 + ], + "actual_end_pos": [ + 4183.0239, + -303.2051, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4183.0239, + -303.2051, + 250.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4253.7346, + -232.4944, + 250.0 + ], + "actual_end_pos": [ + 4253.7346, + -232.4944, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4253.7346, + -232.4944, + 250.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4253.7346, + -232.4944, + 250.0 + ], + "actual_end_pos": [ + 4253.7346, + -232.4944, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4253.7346, + -232.4944, + 250.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4167.132, + -182.4944, + 250.0 + ], + "actual_end_pos": [ + 4167.132, + -182.4944, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4167.132, + -182.4944, + 250.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4217.132, + -95.8919, + 250.0 + ], + "actual_end_pos": [ + 4217.132, + -95.8919, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4217.132, + -95.8919, + 250.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4217.132, + -95.8919, + 250.0 + ], + "actual_end_pos": [ + 4217.132, + -95.8919, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4217.132, + -95.8919, + 250.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4217.132, + -95.8919, + 250.0 + ], + "actual_end_pos": [ + 4217.132, + -95.8919, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4217.132, + -95.8919, + 250.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4130.5295, + -145.8919, + 250.0 + ], + "actual_end_pos": [ + 4130.5295, + -145.8919, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4130.5295, + -145.8919, + 250.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4130.5295, + -145.8919, + 250.0 + ], + "actual_end_pos": [ + 4130.5295, + -145.8919, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4130.5295, + -145.8919, + 250.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4130.5295, + -145.8919, + 250.0 + ], + "actual_end_pos": [ + 4130.5295, + -145.8919, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4130.5295, + -145.8919, + 250.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4130.5295, + -145.8919, + 250.0 + ], + "actual_end_pos": [ + 4130.5295, + -145.8919, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4130.5295, + -145.8919, + 250.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 4130.5295, + -145.8919, + 250.0 + ], + "actual_end_pos": [ + 4130.5295, + -145.8919, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4130.5295, + -145.8919, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_pos": [ + 4030.5295, + -145.8919, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_000132_meta.json b/loop_easy/run_20260422_172644__traj_000132_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..596b0b3badd2103b5bedf7370387c054f6393f06 --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_000132_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 132, + "episode_id": 0, + "state_id": 96, + "sample_index": 96, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2520.0, + 2630.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "turn_right", + "move_backward", + "move_left", + "move_left", + "move_left", + "turn_left", + "move_right", + "move_backward", + "move_right", + "move_right", + "turn_left", + "move_backward", + "turn_left", + "move_forward", + "turn_right", + "turn_right", + "move_forward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2520.0, + 2630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2520.0, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + -2520.0, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2520.0, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2520.0, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + -2520.0, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2520.0, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2616.5926, + 2704.1181, + 850.0 + ], + "actual_end_pos": [ + -2616.5926, + 2704.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2616.5926, + 2704.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2590.7107, + 2607.5255, + 850.0 + ], + "actual_end_pos": [ + -2590.7107, + 2607.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2590.7107, + 2607.5255, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2564.8288, + 2510.9329, + 850.0 + ], + "actual_end_pos": [ + -2564.8288, + 2510.9329, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2564.8288, + 2510.9329, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2538.9469, + 2414.3403, + 850.0 + ], + "actual_end_pos": [ + -2538.9469, + 2414.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2538.9469, + 2414.3403, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2538.9469, + 2414.3403, + 850.0 + ], + "actual_end_pos": [ + -2538.9469, + 2414.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2538.9469, + 2414.3403, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2538.9469, + 2514.3403, + 850.0 + ], + "actual_end_pos": [ + -2538.9469, + 2514.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2538.9469, + 2514.3403, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2638.9469, + 2514.3403, + 850.0 + ], + "actual_end_pos": [ + -2638.9469, + 2514.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2638.9469, + 2514.3403, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2638.9469, + 2614.3403, + 850.0 + ], + "actual_end_pos": [ + -2638.9469, + 2614.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2638.9469, + 2614.3403, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2638.9469, + 2714.3403, + 850.0 + ], + "actual_end_pos": [ + -2638.9469, + 2714.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2638.9469, + 2714.3403, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2638.9469, + 2714.3403, + 850.0 + ], + "actual_end_pos": [ + -2638.9469, + 2714.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2638.9469, + 2714.3403, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2735.5395, + 2740.2223, + 850.0 + ], + "actual_end_pos": [ + -2735.5395, + 2740.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2735.5395, + 2740.2223, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2735.5395, + 2740.2223, + 850.0 + ], + "actual_end_pos": [ + -2735.5395, + 2740.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2735.5395, + 2740.2223, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2648.9369, + 2690.2223, + 850.0 + ], + "actual_end_pos": [ + -2648.9369, + 2690.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2648.9369, + 2690.2223, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2648.9369, + 2690.2223, + 850.0 + ], + "actual_end_pos": [ + -2648.9369, + 2690.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2648.9369, + 2690.2223, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2648.9369, + 2690.2223, + 850.0 + ], + "actual_end_pos": [ + -2648.9369, + 2690.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2648.9369, + 2690.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2690.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2690.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2548.9369, + 2690.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_pos": [ + -2548.9369, + 2590.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_000259_meta.json b/loop_easy/run_20260422_172644__traj_000259_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c46a056466456bce5a93e20ee03aca0d2e51b034 --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_000259_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 259, + "episode_id": 0, + "state_id": 192, + "sample_index": 192, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2320.0, + 1230.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_left", + "turn_left", + "move_forward", + "no_op", + "no_op", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "no_op", + "turn_right", + "move_left", + "turn_left", + "move_backward", + "turn_right", + "move_right", + "move_right", + "turn_right", + "move_right", + "turn_right", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2320.0, + 1230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2220.0, + 1230.0, + 850.0 + ], + "actual_end_pos": [ + -2220.0, + 1230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2220.0, + 1230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2220.0, + 1230.0, + 850.0 + ], + "actual_end_pos": [ + -2220.0, + 1230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2220.0, + 1230.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2220.0, + 1230.0, + 850.0 + ], + "actual_end_pos": [ + -2220.0, + 1230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2220.0, + 1230.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2133.3975, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2133.3975, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2133.3975, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2133.3975, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2133.3975, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2133.3975, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2133.3975, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2133.3975, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2133.3975, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -2133.3975, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2133.3975, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2133.3975, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2133.3975, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2133.3975, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2133.3975, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2133.3975, + 1180.0, + 850.0 + ], + "actual_end_pos": [ + -2133.3975, + 1180.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2133.3975, + 1180.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2159.2794, + 1276.5926, + 850.0 + ], + "actual_end_pos": [ + -2159.2794, + 1276.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2159.2794, + 1276.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2159.2794, + 1276.5926, + 850.0 + ], + "actual_end_pos": [ + -2159.2794, + 1276.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2159.2794, + 1276.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2159.2794, + 1276.5926, + 850.0 + ], + "actual_end_pos": [ + -2159.2794, + 1276.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2159.2794, + 1276.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2109.2794, + 1189.99, + 850.0 + ], + "actual_end_pos": [ + -2109.2794, + 1189.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2109.2794, + 1189.99, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2109.2794, + 1189.99, + 850.0 + ], + "actual_end_pos": [ + -2109.2794, + 1189.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2109.2794, + 1189.99, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2205.8719, + 1164.1081, + 850.0 + ], + "actual_end_pos": [ + -2205.8719, + 1164.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2205.8719, + 1164.1081, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2205.8719, + 1164.1081, + 850.0 + ], + "actual_end_pos": [ + -2205.8719, + 1164.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2205.8719, + 1164.1081, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2255.8719, + 1250.7107, + 850.0 + ], + "actual_end_pos": [ + -2255.8719, + 1250.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2255.8719, + 1250.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2305.8719, + 1337.3132, + 850.0 + ], + "actual_end_pos": [ + -2305.8719, + 1337.3132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2305.8719, + 1337.3132, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2305.8719, + 1337.3132, + 850.0 + ], + "actual_end_pos": [ + -2305.8719, + 1337.3132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2305.8719, + 1337.3132, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2376.5826, + 1408.0239, + 850.0 + ], + "actual_end_pos": [ + -2376.5826, + 1408.0239, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2376.5826, + 1408.0239, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2376.5826, + 1408.0239, + 850.0 + ], + "actual_end_pos": [ + -2376.5826, + 1408.0239, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2376.5826, + 1408.0239, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2326.5826, + 1494.6264, + 850.0 + ], + "actual_end_pos": [ + -2326.5826, + 1494.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2326.5826, + 1494.6264, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2326.5826, + 1494.6264, + 850.0 + ], + "actual_end_pos": [ + -2326.5826, + 1494.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2326.5826, + 1494.6264, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2326.5826, + 1494.6264, + 850.0 + ], + "actual_end_pos": [ + -2326.5826, + 1494.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2326.5826, + 1494.6264, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2326.5826, + 1494.6264, + 850.0 + ], + "actual_end_pos": [ + -2326.5826, + 1494.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2326.5826, + 1494.6264, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2326.5826, + 1494.6264, + 850.0 + ], + "actual_end_pos": [ + -2326.5826, + 1494.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2326.5826, + 1494.6264, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2326.5826, + 1394.6264, + 850.0 + ], + "actual_end_pos": [ + -2326.5826, + 1394.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2326.5826, + 1394.6264, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2326.5826, + 1294.6264, + 850.0 + ], + "actual_end_pos": [ + -2326.5826, + 1294.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2326.5826, + 1294.6264, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_pos": [ + -2326.5826, + 1194.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_001085_meta.json b/loop_easy/run_20260422_172644__traj_001085_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..83b6c0c50f706301eaba0a16d816cb1a1dd05f4b --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_001085_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1085, + "episode_id": 0, + "state_id": 797, + "sample_index": 797, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1520.0, + 30.0, + 850.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_right", + "turn_right", + "move_backward", + "no_op", + "move_right", + "turn_right", + "move_left", + "move_left", + "turn_left", + "move_left", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "move_right", + "move_right", + "no_op", + "move_forward", + "move_forward", + "turn_right", + "move_forward", + "turn_left", + "move_right", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1520.0, + 30.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1520.0, + 30.0, + 850.0 + ], + "actual_end_pos": [ + -1520.0, + 30.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1520.0, + 30.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -1433.3975, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -1433.3975, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1433.3975, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -1433.3975, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -1433.3975, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1433.3975, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1407.5156, + 76.5926, + 850.0 + ], + "actual_end_pos": [ + -1407.5156, + 76.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1407.5156, + 76.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1407.5156, + 76.5926, + 850.0 + ], + "actual_end_pos": [ + -1407.5156, + 76.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1407.5156, + 76.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1310.923, + 50.7107, + 850.0 + ], + "actual_end_pos": [ + -1310.923, + 50.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1310.923, + 50.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1310.923, + 50.7107, + 850.0 + ], + "actual_end_pos": [ + -1310.923, + 50.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1310.923, + 50.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1410.923, + 50.7107, + 850.0 + ], + "actual_end_pos": [ + -1410.923, + 50.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1410.923, + 50.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1510.923, + 50.7107, + 850.0 + ], + "actual_end_pos": [ + -1510.923, + 50.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1510.923, + 50.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1510.923, + 50.7107, + 850.0 + ], + "actual_end_pos": [ + -1510.923, + 50.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1510.923, + 50.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1607.5156, + 76.5926, + 850.0 + ], + "actual_end_pos": [ + -1607.5156, + 76.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1607.5156, + 76.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1607.5156, + 76.5926, + 850.0 + ], + "actual_end_pos": [ + -1607.5156, + 76.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1607.5156, + 76.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1607.5156, + 76.5926, + 850.0 + ], + "actual_end_pos": [ + -1607.5156, + 76.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1607.5156, + 76.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -1581.6337, + -20.0, + 850.0 + ], + "actual_end_pos": [ + -1581.6337, + -20.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1581.6337, + -20.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -1555.7517, + -116.5926, + 850.0 + ], + "actual_end_pos": [ + -1555.7517, + -116.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1555.7517, + -116.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -1555.7517, + -116.5926, + 850.0 + ], + "actual_end_pos": [ + -1555.7517, + -116.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1555.7517, + -116.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1469.1492, + -66.5926, + 850.0 + ], + "actual_end_pos": [ + -1469.1492, + -66.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1469.1492, + -66.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1382.5467, + -16.5926, + 850.0 + ], + "actual_end_pos": [ + -1382.5467, + -16.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1382.5467, + -16.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1382.5467, + -16.5926, + 850.0 + ], + "actual_end_pos": [ + -1382.5467, + -16.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1382.5467, + -16.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1332.5467, + -103.1951, + 850.0 + ], + "actual_end_pos": [ + -1332.5467, + -103.1951, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1332.5467, + -103.1951, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1282.5467, + -189.7977, + 850.0 + ], + "actual_end_pos": [ + -1282.5467, + -189.7977, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1282.5467, + -189.7977, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1282.5467, + -189.7977, + 850.0 + ], + "actual_end_pos": [ + -1282.5467, + -189.7977, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1282.5467, + -189.7977, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1211.836, + -260.5083, + 850.0 + ], + "actual_end_pos": [ + -1211.836, + -260.5083, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1211.836, + -260.5083, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1211.836, + -260.5083, + 850.0 + ], + "actual_end_pos": [ + -1211.836, + -260.5083, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1211.836, + -260.5083, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1125.2334, + -210.5083, + 850.0 + ], + "actual_end_pos": [ + -1125.2334, + -210.5083, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1125.2334, + -210.5083, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1038.6309, + -160.5083, + 850.0 + ], + "actual_end_pos": [ + -1038.6309, + -160.5083, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1038.6309, + -160.5083, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -952.0284, + -110.5083, + 850.0 + ], + "actual_end_pos": [ + -952.0284, + -110.5083, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -952.0284, + -110.5083, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -952.0284, + -110.5083, + 850.0 + ], + "actual_end_pos": [ + -952.0284, + -110.5083, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -952.0284, + -110.5083, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -952.0284, + -110.5083, + 850.0 + ], + "actual_end_pos": [ + -952.0284, + -110.5083, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -952.0284, + -110.5083, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -952.0284, + -110.5083, + 850.0 + ], + "actual_end_pos": [ + -952.0284, + -110.5083, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -952.0284, + -110.5083, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -952.0284, + -110.5083, + 850.0 + ], + "actual_end_pos": [ + -952.0284, + -110.5083, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -952.0284, + -110.5083, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -952.0284, + -110.5083, + 850.0 + ], + "actual_end_pos": [ + -952.0284, + -110.5083, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -952.0284, + -110.5083, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1022.739, + -181.219, + 850.0 + ], + "actual_end_pos": [ + -1022.739, + -181.219, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1022.739, + -181.219, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1093.4497, + -251.9297, + 850.0 + ], + "actual_end_pos": [ + -1093.4497, + -251.9297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1093.4497, + -251.9297, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1164.1604, + -322.6404, + 850.0 + ], + "actual_end_pos": [ + -1164.1604, + -322.6404, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1164.1604, + -322.6404, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1234.8711, + -251.9297, + 850.0 + ], + "actual_end_pos": [ + -1234.8711, + -251.9297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1234.8711, + -251.9297, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1305.5818, + -181.219, + 850.0 + ], + "actual_end_pos": [ + -1305.5818, + -181.219, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1305.5818, + -181.219, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1376.2924, + -110.5083, + 850.0 + ], + "actual_end_pos": [ + -1376.2924, + -110.5083, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1376.2924, + -110.5083, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1447.0031, + -39.7977, + 850.0 + ], + "actual_end_pos": [ + -1447.0031, + -39.7977, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1447.0031, + -39.7977, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1517.7138, + 30.913, + 850.0 + ], + "actual_end_pos": [ + -1517.7138, + 30.913, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_002006_meta.json b/loop_easy/run_20260422_172644__traj_002006_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a92b2ff54eff667318475a494653720598ae5e27 --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_002006_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2006, + "episode_id": 0, + "state_id": 1479, + "sample_index": 1479, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -720.0, + 2430.0, + 850.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "no_op", + "move_forward", + "move_left", + "turn_right", + "move_right", + "move_backward", + "move_left", + "turn_right", + "move_forward", + "turn_right", + "move_right", + "move_forward", + "turn_right", + "move_backward", + "turn_left", + "move_left", + "turn_right", + "move_backward", + "move_right", + "turn_left", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -720.0, + 2430.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -649.2893, + 2500.7107, + 850.0 + ], + "actual_end_pos": [ + -649.2893, + 2500.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -649.2893, + 2500.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -649.2893, + 2500.7107, + 850.0 + ], + "actual_end_pos": [ + -649.2893, + 2500.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -649.2893, + 2500.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -578.5786, + 2430.0, + 850.0 + ], + "actual_end_pos": [ + -578.5786, + 2430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -578.5786, + 2430.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -649.2893, + 2359.2893, + 850.0 + ], + "actual_end_pos": [ + -649.2893, + 2359.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -649.2893, + 2359.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -649.2893, + 2359.2893, + 850.0 + ], + "actual_end_pos": [ + -649.2893, + 2359.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -649.2893, + 2359.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -599.2893, + 2445.8919, + 850.0 + ], + "actual_end_pos": [ + -599.2893, + 2445.8919, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -599.2893, + 2445.8919, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -685.8919, + 2495.8919, + 850.0 + ], + "actual_end_pos": [ + -685.8919, + 2495.8919, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -685.8919, + 2495.8919, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -735.8919, + 2409.2893, + 850.0 + ], + "actual_end_pos": [ + -735.8919, + 2409.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -735.8919, + 2409.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -735.8919, + 2409.2893, + 850.0 + ], + "actual_end_pos": [ + -735.8919, + 2409.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -735.8919, + 2409.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -639.2993, + 2383.4074, + 850.0 + ], + "actual_end_pos": [ + -639.2993, + 2383.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -639.2993, + 2383.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -639.2993, + 2383.4074, + 850.0 + ], + "actual_end_pos": [ + -639.2993, + 2383.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -639.2993, + 2383.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -639.2993, + 2483.4074, + 850.0 + ], + "actual_end_pos": [ + -639.2993, + 2483.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -639.2993, + 2483.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -539.2993, + 2483.4074, + 850.0 + ], + "actual_end_pos": [ + -539.2993, + 2483.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -539.2993, + 2483.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -539.2993, + 2483.4074, + 850.0 + ], + "actual_end_pos": [ + -539.2993, + 2483.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -539.2993, + 2483.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -635.8919, + 2457.5255, + 850.0 + ], + "actual_end_pos": [ + -635.8919, + 2457.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -635.8919, + 2457.5255, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -635.8919, + 2457.5255, + 850.0 + ], + "actual_end_pos": [ + -635.8919, + 2457.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -635.8919, + 2457.5255, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -635.8919, + 2357.5255, + 850.0 + ], + "actual_end_pos": [ + -635.8919, + 2357.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -635.8919, + 2357.5255, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -635.8919, + 2357.5255, + 850.0 + ], + "actual_end_pos": [ + -635.8919, + 2357.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -635.8919, + 2357.5255, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -732.4844, + 2331.6436, + 850.0 + ], + "actual_end_pos": [ + -732.4844, + 2331.6436, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -732.4844, + 2331.6436, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -758.3663, + 2428.2362, + 850.0 + ], + "actual_end_pos": [ + -758.3663, + 2428.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -758.3663, + 2428.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -758.3663, + 2428.2362, + 850.0 + ], + "actual_end_pos": [ + -758.3663, + 2428.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -758.3663, + 2428.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -758.3663, + 2528.2362, + 850.0 + ], + "actual_end_pos": [ + -758.3663, + 2528.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -758.3663, + 2528.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -758.3663, + 2528.2362, + 850.0 + ], + "actual_end_pos": [ + -758.3663, + 2528.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -758.3663, + 2528.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -758.3663, + 2528.2362, + 850.0 + ], + "actual_end_pos": [ + -758.3663, + 2528.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -758.3663, + 2528.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -758.3663, + 2528.2362, + 850.0 + ], + "actual_end_pos": [ + -758.3663, + 2528.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -758.3663, + 2528.2362, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_pos": [ + -687.6557, + 2457.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_002512_meta.json b/loop_easy/run_20260422_172644__traj_002512_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5041f2712921aeec2f6802b4ef9982645eea2f5d --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_002512_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2512, + "episode_id": 0, + "state_id": 1855, + "sample_index": 1855, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -120.0, + 3430.0, + 850.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "no_op", + "move_backward", + "move_left", + "move_left", + "move_forward", + "turn_left", + "turn_left", + "turn_right", + "move_left", + "move_left", + "no_op", + "turn_left", + "move_right", + "turn_right", + "turn_right", + "move_right", + "turn_left", + "turn_left", + "move_forward", + "turn_right", + "turn_right", + "move_backward", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -120.0, + 3430.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -120.0, + 3430.0, + 850.0 + ], + "actual_end_pos": [ + -120.0, + 3430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -120.0, + 3430.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -120.0, + 3430.0, + 850.0 + ], + "actual_end_pos": [ + -120.0, + 3430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -120.0, + 3430.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -190.7107, + 3500.7107, + 850.0 + ], + "actual_end_pos": [ + -190.7107, + 3500.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -190.7107, + 3500.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -261.4214, + 3430.0, + 850.0 + ], + "actual_end_pos": [ + -261.4214, + 3430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -261.4214, + 3430.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -332.132, + 3359.2893, + 850.0 + ], + "actual_end_pos": [ + -332.132, + 3359.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -332.132, + 3359.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -261.4214, + 3288.5786, + 850.0 + ], + "actual_end_pos": [ + -261.4214, + 3288.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -261.4214, + 3288.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -261.4214, + 3288.5786, + 850.0 + ], + "actual_end_pos": [ + -261.4214, + 3288.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -261.4214, + 3288.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -261.4214, + 3288.5786, + 850.0 + ], + "actual_end_pos": [ + -261.4214, + 3288.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -261.4214, + 3288.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -261.4214, + 3288.5786, + 850.0 + ], + "actual_end_pos": [ + -261.4214, + 3288.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -261.4214, + 3288.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -348.0239, + 3238.5786, + 850.0 + ], + "actual_end_pos": [ + -348.0239, + 3238.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -348.0239, + 3238.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -434.6264, + 3188.5786, + 850.0 + ], + "actual_end_pos": [ + -434.6264, + 3188.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -434.6264, + 3188.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -434.6264, + 3188.5786, + 850.0 + ], + "actual_end_pos": [ + -434.6264, + 3188.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -434.6264, + 3188.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -434.6264, + 3188.5786, + 850.0 + ], + "actual_end_pos": [ + -434.6264, + 3188.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -434.6264, + 3188.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -338.0339, + 3214.4605, + 850.0 + ], + "actual_end_pos": [ + -338.0339, + 3214.4605, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -338.0339, + 3214.4605, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -338.0339, + 3214.4605, + 850.0 + ], + "actual_end_pos": [ + -338.0339, + 3214.4605, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -338.0339, + 3214.4605, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -338.0339, + 3214.4605, + 850.0 + ], + "actual_end_pos": [ + -338.0339, + 3214.4605, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -338.0339, + 3214.4605, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 3285.1712, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 3285.1712, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -267.3232, + 3285.1712, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 3285.1712, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 3285.1712, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -267.3232, + 3285.1712, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 3285.1712, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 3285.1712, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -267.3232, + 3285.1712, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -241.4413, + 3188.5786, + 850.0 + ], + "actual_end_pos": [ + -241.4413, + 3188.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -241.4413, + 3188.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -241.4413, + 3188.5786, + 850.0 + ], + "actual_end_pos": [ + -241.4413, + 3188.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -241.4413, + 3188.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -241.4413, + 3188.5786, + 850.0 + ], + "actual_end_pos": [ + -241.4413, + 3188.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -241.4413, + 3188.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -312.1519, + 3259.2893, + 850.0 + ], + "actual_end_pos": [ + -312.1519, + 3259.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -312.1519, + 3259.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -241.4413, + 3330.0, + 850.0 + ], + "actual_end_pos": [ + -241.4413, + 3330.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -241.4413, + 3330.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -170.7306, + 3400.7107, + 850.0 + ], + "actual_end_pos": [ + -170.7306, + 3400.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -170.7306, + 3400.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_pos": [ + -100.0199, + 3471.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_002586_meta.json b/loop_easy/run_20260422_172644__traj_002586_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..971954b6d50a891d565e735c164523cceaa64447 --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_002586_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2586, + "episode_id": 0, + "state_id": 1915, + "sample_index": 1915, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 80.0, + 1430.0, + 850.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_right", + "move_right", + "move_forward", + "turn_right", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_right", + "move_right", + "move_backward", + "move_right", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 80.0, + 1430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 9.2893, + 1500.7107, + 850.0 + ], + "actual_end_pos": [ + 9.2893, + 1500.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 9.2893, + 1500.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 9.2893, + 1500.7107, + 850.0 + ], + "actual_end_pos": [ + 9.2893, + 1500.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 9.2893, + 1500.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -40.7107, + 1414.1081, + 850.0 + ], + "actual_end_pos": [ + -40.7107, + 1414.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -40.7107, + 1414.1081, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -127.3132, + 1464.1081, + 850.0 + ], + "actual_end_pos": [ + -127.3132, + 1464.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -127.3132, + 1464.1081, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -127.3132, + 1464.1081, + 850.0 + ], + "actual_end_pos": [ + -127.3132, + 1464.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -127.3132, + 1464.1081, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -101.4313, + 1560.7007, + 850.0 + ], + "actual_end_pos": [ + -101.4313, + 1560.7007, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -101.4313, + 1560.7007, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -75.5494, + 1657.2933, + 850.0 + ], + "actual_end_pos": [ + -75.5494, + 1657.2933, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -75.5494, + 1657.2933, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -49.6675, + 1753.8859, + 850.0 + ], + "actual_end_pos": [ + -49.6675, + 1753.8859, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -49.6675, + 1753.8859, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -23.7856, + 1850.4785, + 850.0 + ], + "actual_end_pos": [ + -23.7856, + 1850.4785, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -23.7856, + 1850.4785, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -23.7856, + 1850.4785, + 850.0 + ], + "actual_end_pos": [ + -23.7856, + 1850.4785, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -23.7856, + 1850.4785, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -23.7856, + 1950.4785, + 850.0 + ], + "actual_end_pos": [ + -23.7856, + 1950.4785, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -23.7856, + 1950.4785, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -23.7856, + 1950.4785, + 850.0 + ], + "actual_end_pos": [ + -23.7856, + 1950.4785, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -23.7856, + 1950.4785, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -23.7856, + 1950.4785, + 850.0 + ], + "actual_end_pos": [ + -23.7856, + 1950.4785, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -23.7856, + 1950.4785, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -23.7856, + 1950.4785, + 850.0 + ], + "actual_end_pos": [ + -23.7856, + 1950.4785, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23.7856, + 1950.4785, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 46.9251, + 1879.7678, + 850.0 + ], + "actual_end_pos": [ + 46.9251, + 1879.7678, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 46.9251, + 1879.7678, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23.7856, + 1809.0571, + 850.0 + ], + "actual_end_pos": [ + -23.7856, + 1809.0571, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -23.7856, + 1809.0571, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -94.4963, + 1738.3464, + 850.0 + ], + "actual_end_pos": [ + -94.4963, + 1738.3464, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -94.4963, + 1738.3464, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23.7856, + 1667.6358, + 850.0 + ], + "actual_end_pos": [ + -23.7856, + 1667.6358, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -23.7856, + 1667.6358, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -94.4963, + 1596.9251, + 850.0 + ], + "actual_end_pos": [ + -94.4963, + 1596.9251, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -94.4963, + 1596.9251, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -23.7856, + 1526.2144, + 850.0 + ], + "actual_end_pos": [ + -23.7856, + 1526.2144, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23.7856, + 1526.2144, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_pos": [ + 46.9251, + 1455.5037, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_002734_meta.json b/loop_easy/run_20260422_172644__traj_002734_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5775b35c675e0de2243fe0b5b388eb58f419c891 --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_002734_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2734, + "episode_id": 0, + "state_id": 2032, + "sample_index": 2032, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 280.0, + 1430.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "no_op", + "turn_right", + "no_op", + "turn_left", + "move_backward", + "turn_left", + "move_backward", + "move_right", + "move_forward", + "turn_right", + "move_backward", + "turn_right", + "move_right", + "turn_left", + "move_left", + "turn_left", + "turn_left", + "move_forward", + "move_left", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 280.0, + 1430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 280.0, + 1530.0, + 850.0 + ], + "actual_end_pos": [ + 280.0, + 1530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 280.0, + 1530.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 280.0, + 1630.0, + 850.0 + ], + "actual_end_pos": [ + 280.0, + 1630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 280.0, + 1630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 280.0, + 1730.0, + 850.0 + ], + "actual_end_pos": [ + 280.0, + 1730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 280.0, + 1730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 280.0, + 1730.0, + 850.0 + ], + "actual_end_pos": [ + 280.0, + 1730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 280.0, + 1730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 280.0, + 1730.0, + 850.0 + ], + "actual_end_pos": [ + 280.0, + 1730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 280.0, + 1730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 280.0, + 1730.0, + 850.0 + ], + "actual_end_pos": [ + 280.0, + 1730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 280.0, + 1730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 280.0, + 1730.0, + 850.0 + ], + "actual_end_pos": [ + 280.0, + 1730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 280.0, + 1730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 180.0, + 1730.0, + 850.0 + ], + "actual_end_pos": [ + 180.0, + 1730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 180.0, + 1730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 180.0, + 1730.0, + 850.0 + ], + "actual_end_pos": [ + 180.0, + 1730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 180.0, + 1730.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 83.4074, + 1755.8819, + 850.0 + ], + "actual_end_pos": [ + 83.4074, + 1755.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 83.4074, + 1755.8819, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 109.2893, + 1852.4745, + 850.0 + ], + "actual_end_pos": [ + 109.2893, + 1852.4745, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 109.2893, + 1852.4745, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 205.8819, + 1826.5926, + 850.0 + ], + "actual_end_pos": [ + 205.8819, + 1826.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 205.8819, + 1826.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 205.8819, + 1826.5926, + 850.0 + ], + "actual_end_pos": [ + 205.8819, + 1826.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 205.8819, + 1826.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 105.8819, + 1826.5926, + 850.0 + ], + "actual_end_pos": [ + 105.8819, + 1826.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 105.8819, + 1826.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 105.8819, + 1826.5926, + 850.0 + ], + "actual_end_pos": [ + 105.8819, + 1826.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 105.8819, + 1826.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 80.0, + 1923.1852, + 850.0 + ], + "actual_end_pos": [ + 80.0, + 1923.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 80.0, + 1923.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 80.0, + 1923.1852, + 850.0 + ], + "actual_end_pos": [ + 80.0, + 1923.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 80.0, + 1923.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 80.0, + 1823.1852, + 850.0 + ], + "actual_end_pos": [ + 80.0, + 1823.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 80.0, + 1823.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 80.0, + 1823.1852, + 850.0 + ], + "actual_end_pos": [ + 80.0, + 1823.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 80.0, + 1823.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 80.0, + 1823.1852, + 850.0 + ], + "actual_end_pos": [ + 80.0, + 1823.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 80.0, + 1823.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 166.6025, + 1773.1852, + 850.0 + ], + "actual_end_pos": [ + 166.6025, + 1773.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 166.6025, + 1773.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 116.6025, + 1686.5826, + 850.0 + ], + "actual_end_pos": [ + 116.6025, + 1686.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 116.6025, + 1686.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 116.6025, + 1686.5826, + 850.0 + ], + "actual_end_pos": [ + 116.6025, + 1686.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 116.6025, + 1686.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 116.6025, + 1686.5826, + 850.0 + ], + "actual_end_pos": [ + 116.6025, + 1686.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 116.6025, + 1686.5826, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 216.6025, + 1686.5826, + 850.0 + ], + "actual_end_pos": [ + 216.6025, + 1686.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 216.6025, + 1686.5826, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 316.6025, + 1686.5826, + 850.0 + ], + "actual_end_pos": [ + 316.6025, + 1686.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 316.6025, + 1686.5826, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 316.6025, + 1586.5826, + 850.0 + ], + "actual_end_pos": [ + 316.6025, + 1586.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 316.6025, + 1586.5826, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 316.6025, + 1486.5826, + 850.0 + ], + "actual_end_pos": [ + 316.6025, + 1486.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 316.6025, + 1486.5826, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_pos": [ + 316.6025, + 1386.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_002955_meta.json b/loop_easy/run_20260422_172644__traj_002955_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ad042e81ad589efbb292cf551533a8678ec46ddb --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_002955_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2955, + "episode_id": 0, + "state_id": 2197, + "sample_index": 2197, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 680.0, + -1770.0, + 850.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_forward", + "turn_right", + "move_right", + "move_right", + "move_backward", + "no_op", + "move_backward", + "no_op", + "turn_left", + "move_left", + "turn_left", + "move_left", + "move_left", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_forward", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 680.0, + -1770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 680.0, + -1770.0, + 850.0 + ], + "actual_end_pos": [ + 680.0, + -1770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 680.0, + -1770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 593.3975, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + 593.3975, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 593.3975, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 593.3975, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + 593.3975, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 593.3975, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 664.1081, + -1890.7107, + 850.0 + ], + "actual_end_pos": [ + 664.1081, + -1890.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 664.1081, + -1890.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 734.8188, + -1961.4214, + 850.0 + ], + "actual_end_pos": [ + 734.8188, + -1961.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 734.8188, + -1961.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 805.5295, + -1890.7107, + 850.0 + ], + "actual_end_pos": [ + 805.5295, + -1890.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 805.5295, + -1890.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 805.5295, + -1890.7107, + 850.0 + ], + "actual_end_pos": [ + 805.5295, + -1890.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 805.5295, + -1890.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 876.2402, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + 876.2402, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 876.2402, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 876.2402, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + 876.2402, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 876.2402, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 876.2402, + -1820.0, + 850.0 + ], + "actual_end_pos": [ + 876.2402, + -1820.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 876.2402, + -1820.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 826.2402, + -1733.3975, + 850.0 + ], + "actual_end_pos": [ + 826.2402, + -1733.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 826.2402, + -1733.3975, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 826.2402, + -1733.3975, + 850.0 + ], + "actual_end_pos": [ + 826.2402, + -1733.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 826.2402, + -1733.3975, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 800.3583, + -1636.8049, + 850.0 + ], + "actual_end_pos": [ + 800.3583, + -1636.8049, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 800.3583, + -1636.8049, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 774.4764, + -1540.2123, + 850.0 + ], + "actual_end_pos": [ + 774.4764, + -1540.2123, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 774.4764, + -1540.2123, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 677.8838, + -1566.0942, + 850.0 + ], + "actual_end_pos": [ + 677.8838, + -1566.0942, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 677.8838, + -1566.0942, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 581.2912, + -1591.9761, + 850.0 + ], + "actual_end_pos": [ + 581.2912, + -1591.9761, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 581.2912, + -1591.9761, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 581.2912, + -1591.9761, + 850.0 + ], + "actual_end_pos": [ + 581.2912, + -1591.9761, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 581.2912, + -1591.9761, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 581.2912, + -1591.9761, + 850.0 + ], + "actual_end_pos": [ + 581.2912, + -1591.9761, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 581.2912, + -1591.9761, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 510.5805, + -1662.6868, + 850.0 + ], + "actual_end_pos": [ + 510.5805, + -1662.6868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 510.5805, + -1662.6868, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 581.2912, + -1733.3975, + 850.0 + ], + "actual_end_pos": [ + 581.2912, + -1733.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 581.2912, + -1733.3975, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_pos": [ + 652.0019, + -1804.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_003068_meta.json b/loop_easy/run_20260422_172644__traj_003068_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..02d1f2dd7fd548e89769206214f32dd77b2109be --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_003068_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 3068, + "episode_id": 0, + "state_id": 2282, + "sample_index": 2282, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 680.0, + 2830.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_forward", + "move_left", + "move_forward", + "move_right", + "move_right", + "move_forward", + "move_left", + "move_forward", + "move_right", + "move_backward", + "move_left", + "move_forward", + "move_left", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_backward", + "turn_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 680.0, + 2830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 680.0, + 2830.0, + 850.0 + ], + "actual_end_pos": [ + 680.0, + 2830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 680.0, + 2830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 705.8819, + 2926.5926, + 850.0 + ], + "actual_end_pos": [ + 705.8819, + 2926.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 705.8819, + 2926.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 802.4745, + 2900.7107, + 850.0 + ], + "actual_end_pos": [ + 802.4745, + 2900.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 802.4745, + 2900.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 828.3564, + 2997.3033, + 850.0 + ], + "actual_end_pos": [ + 828.3564, + 2997.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 828.3564, + 2997.3033, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 731.7638, + 3023.1852, + 850.0 + ], + "actual_end_pos": [ + 731.7638, + 3023.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 731.7638, + 3023.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 635.1712, + 3049.0671, + 850.0 + ], + "actual_end_pos": [ + 635.1712, + 3049.0671, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 635.1712, + 3049.0671, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 661.0531, + 3145.6597, + 850.0 + ], + "actual_end_pos": [ + 661.0531, + 3145.6597, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 661.0531, + 3145.6597, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 757.6457, + 3119.7777, + 850.0 + ], + "actual_end_pos": [ + 757.6457, + 3119.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 757.6457, + 3119.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 783.5276, + 3216.3703, + 850.0 + ], + "actual_end_pos": [ + 783.5276, + 3216.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 783.5276, + 3216.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 686.935, + 3242.2522, + 850.0 + ], + "actual_end_pos": [ + 686.935, + 3242.2522, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 686.935, + 3242.2522, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 661.0531, + 3145.6597, + 850.0 + ], + "actual_end_pos": [ + 661.0531, + 3145.6597, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 661.0531, + 3145.6597, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 757.6457, + 3119.7777, + 850.0 + ], + "actual_end_pos": [ + 757.6457, + 3119.7777, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 757.6457, + 3119.7777, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 783.5276, + 3216.3703, + 850.0 + ], + "actual_end_pos": [ + 783.5276, + 3216.3703, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 783.5276, + 3216.3703, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 880.1202, + 3190.4884, + 850.0 + ], + "actual_end_pos": [ + 880.1202, + 3190.4884, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 880.1202, + 3190.4884, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 854.2383, + 3093.8958, + 850.0 + ], + "actual_end_pos": [ + 854.2383, + 3093.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 854.2383, + 3093.8958, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 828.3564, + 2997.3033, + 850.0 + ], + "actual_end_pos": [ + 828.3564, + 2997.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 828.3564, + 2997.3033, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 924.949, + 2971.4214, + 850.0 + ], + "actual_end_pos": [ + 924.949, + 2971.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 924.949, + 2971.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 1021.5416, + 2945.5394, + 850.0 + ], + "actual_end_pos": [ + 1021.5416, + 2945.5394, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1021.5416, + 2945.5394, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 995.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 995.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 995.6597, + 2848.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 995.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 995.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 995.6597, + 2848.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 895.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 895.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 895.6597, + 2848.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 795.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 795.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 795.6597, + 2848.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_pos": [ + 695.6597, + 2848.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_003461_meta.json b/loop_easy/run_20260422_172644__traj_003461_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..33fb28fd787f27c163bfc72396e3cdb24ecc8a86 --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_003461_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 3461, + "episode_id": 0, + "state_id": 2568, + "sample_index": 2568, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1080.0, + -770.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "turn_left", + "turn_left", + "move_right", + "move_backward", + "move_backward", + "turn_right", + "move_forward", + "move_forward", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_backward", + "move_left", + "turn_right", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1080.0, + -770.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1080.0, + -770.0, + 850.0 + ], + "actual_end_pos": [ + 1080.0, + -770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1080.0, + -770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 1080.0, + -770.0, + 850.0 + ], + "actual_end_pos": [ + 1080.0, + -770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1080.0, + -770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 1080.0, + -770.0, + 850.0 + ], + "actual_end_pos": [ + 1080.0, + -770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1080.0, + -770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 1150.7107, + -699.2893, + 850.0 + ], + "actual_end_pos": [ + 1150.7107, + -699.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1150.7107, + -699.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 1080.0, + -628.5786, + 850.0 + ], + "actual_end_pos": [ + 1080.0, + -628.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1080.0, + -628.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 1009.2893, + -557.868, + 850.0 + ], + "actual_end_pos": [ + 1009.2893, + -557.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1009.2893, + -557.868, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 1009.2893, + -557.868, + 850.0 + ], + "actual_end_pos": [ + 1009.2893, + -557.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1009.2893, + -557.868, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 1095.8919, + -607.868, + 850.0 + ], + "actual_end_pos": [ + 1095.8919, + -607.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1095.8919, + -607.868, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 1182.4944, + -657.868, + 850.0 + ], + "actual_end_pos": [ + 1182.4944, + -657.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1182.4944, + -657.868, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 1132.4944, + -744.4705, + 850.0 + ], + "actual_end_pos": [ + 1132.4944, + -744.4705, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1132.4944, + -744.4705, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 1132.4944, + -744.4705, + 850.0 + ], + "actual_end_pos": [ + 1132.4944, + -744.4705, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1132.4944, + -744.4705, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 1132.4944, + -744.4705, + 850.0 + ], + "actual_end_pos": [ + 1132.4944, + -744.4705, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1132.4944, + -744.4705, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 1132.4944, + -744.4705, + 850.0 + ], + "actual_end_pos": [ + 1132.4944, + -744.4705, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1132.4944, + -744.4705, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 1035.9018, + -770.3524, + 850.0 + ], + "actual_end_pos": [ + 1035.9018, + -770.3524, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1035.9018, + -770.3524, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 1010.0199, + -673.7598, + 850.0 + ], + "actual_end_pos": [ + 1010.0199, + -673.7598, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1010.0199, + -673.7598, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 913.4273, + -699.6417, + 850.0 + ], + "actual_end_pos": [ + 913.4273, + -699.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 913.4273, + -699.6417, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 913.4273, + -699.6417, + 850.0 + ], + "actual_end_pos": [ + 913.4273, + -699.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 913.4273, + -699.6417, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 826.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 826.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 826.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 826.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 826.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 826.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 826.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 826.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 826.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 826.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 826.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 826.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 826.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 826.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 826.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 926.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 926.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 926.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1026.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 1026.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1026.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_pos": [ + 1126.8248, + -749.6417, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_003591_meta.json b/loop_easy/run_20260422_172644__traj_003591_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ff2ee3ac5d88f31391872e3b437c884bdbbf50e9 --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_003591_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 3591, + "episode_id": 0, + "state_id": 2668, + "sample_index": 2668, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1080.0, + 2830.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "move_backward", + "turn_left", + "move_forward", + "move_left", + "move_forward", + "move_forward", + "move_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1080.0, + 2830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1080.0, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 1080.0, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1080.0, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1080.0, + 2830.0, + 850.0 + ], + "actual_end_pos": [ + 1080.0, + 2830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1080.0, + 2830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 980.0, + 2830.0, + 850.0 + ], + "actual_end_pos": [ + 980.0, + 2830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 980.0, + 2830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 880.0, + 2830.0, + 850.0 + ], + "actual_end_pos": [ + 880.0, + 2830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 880.0, + 2830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 780.0, + 2830.0, + 850.0 + ], + "actual_end_pos": [ + 780.0, + 2830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 780.0, + 2830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 680.0, + 2830.0, + 850.0 + ], + "actual_end_pos": [ + 680.0, + 2830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 680.0, + 2830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 680.0, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 680.0, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 680.0, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 780.0, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 780.0, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 780.0, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 780.0, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 780.0, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 780.0, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 683.4074, + 2755.8819, + 850.0 + ], + "actual_end_pos": [ + 683.4074, + 2755.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 683.4074, + 2755.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 709.2893, + 2852.4745, + 850.0 + ], + "actual_end_pos": [ + 709.2893, + 2852.4745, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 709.2893, + 2852.4745, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 612.6967, + 2878.3564, + 850.0 + ], + "actual_end_pos": [ + 612.6967, + 2878.3564, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 612.6967, + 2878.3564, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 516.1042, + 2904.2383, + 850.0 + ], + "actual_end_pos": [ + 516.1042, + 2904.2383, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 516.1042, + 2904.2383, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 490.2223, + 2807.6457, + 850.0 + ], + "actual_end_pos": [ + 490.2223, + 2807.6457, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 490.2223, + 2807.6457, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 490.2223, + 2807.6457, + 850.0 + ], + "actual_end_pos": [ + 490.2223, + 2807.6457, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 490.2223, + 2807.6457, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 490.2223, + 2807.6457, + 850.0 + ], + "actual_end_pos": [ + 490.2223, + 2807.6457, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 490.2223, + 2807.6457, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 393.6297, + 2781.7638, + 850.0 + ], + "actual_end_pos": [ + 393.6297, + 2781.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 393.6297, + 2781.7638, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 297.0371, + 2755.8819, + 850.0 + ], + "actual_end_pos": [ + 297.0371, + 2755.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 297.0371, + 2755.8819, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 200.4445, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 200.4445, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 200.4445, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 200.4445, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 200.4445, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 200.4445, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 300.4445, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 300.4445, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 300.4445, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 400.4445, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 400.4445, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 400.4445, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 500.4445, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 500.4445, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 500.4445, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 600.4445, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 600.4445, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 600.4445, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 700.4445, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 700.4445, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 700.4445, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 800.4445, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 800.4445, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 800.4445, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 900.4445, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 900.4445, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 900.4445, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1000.4445, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 1000.4445, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1000.4445, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1100.4445, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 1100.4445, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1100.4445, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_pos": [ + 1100.4445, + 2830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_003737_meta.json b/loop_easy/run_20260422_172644__traj_003737_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3fd2205bde2d1bd441b78e4e3319b2395200d2ad --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_003737_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 3737, + "episode_id": 0, + "state_id": 2776, + "sample_index": 2776, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1280.0, + 2430.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_right", + "no_op", + "move_backward", + "turn_left", + "turn_left", + "move_right", + "move_forward", + "no_op", + "move_right", + "move_right", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_right", + "no_op", + "turn_right", + "turn_right", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1280.0, + 2430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1380.0, + 2430.0, + 850.0 + ], + "actual_end_pos": [ + 1380.0, + 2430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1380.0, + 2430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1380.0, + 2530.0, + 850.0 + ], + "actual_end_pos": [ + 1380.0, + 2530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1380.0, + 2530.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1380.0, + 2630.0, + 850.0 + ], + "actual_end_pos": [ + 1380.0, + 2630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1380.0, + 2630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1380.0, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 1380.0, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1380.0, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1380.0, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 1380.0, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1380.0, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1380.0, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 1380.0, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1380.0, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1293.3975, + 2680.0, + 850.0 + ], + "actual_end_pos": [ + 1293.3975, + 2680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1293.3975, + 2680.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1206.7949, + 2630.0, + 850.0 + ], + "actual_end_pos": [ + 1206.7949, + 2630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1206.7949, + 2630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1156.7949, + 2716.6025, + 850.0 + ], + "actual_end_pos": [ + 1156.7949, + 2716.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1156.7949, + 2716.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1156.7949, + 2716.6025, + 850.0 + ], + "actual_end_pos": [ + 1156.7949, + 2716.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1156.7949, + 2716.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1070.1924, + 2666.6025, + 850.0 + ], + "actual_end_pos": [ + 1070.1924, + 2666.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1070.1924, + 2666.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1070.1924, + 2666.6025, + 850.0 + ], + "actual_end_pos": [ + 1070.1924, + 2666.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1070.1924, + 2666.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1070.1924, + 2666.6025, + 850.0 + ], + "actual_end_pos": [ + 1070.1924, + 2666.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1070.1924, + 2666.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1070.1924, + 2766.6025, + 850.0 + ], + "actual_end_pos": [ + 1070.1924, + 2766.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1070.1924, + 2766.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1170.1924, + 2766.6025, + 850.0 + ], + "actual_end_pos": [ + 1170.1924, + 2766.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1170.1924, + 2766.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1170.1924, + 2766.6025, + 850.0 + ], + "actual_end_pos": [ + 1170.1924, + 2766.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1170.1924, + 2766.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1170.1924, + 2866.6025, + 850.0 + ], + "actual_end_pos": [ + 1170.1924, + 2866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1170.1924, + 2866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1170.1924, + 2966.6025, + 850.0 + ], + "actual_end_pos": [ + 1170.1924, + 2966.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1170.1924, + 2966.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1170.1924, + 2966.6025, + 850.0 + ], + "actual_end_pos": [ + 1170.1924, + 2966.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1170.1924, + 2966.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 1170.1924, + 2966.6025, + 850.0 + ], + "actual_end_pos": [ + 1170.1924, + 2966.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1170.1924, + 2966.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 1256.7949, + 2916.6025, + 850.0 + ], + "actual_end_pos": [ + 1256.7949, + 2916.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1256.7949, + 2916.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 1343.3975, + 2866.6025, + 850.0 + ], + "actual_end_pos": [ + 1343.3975, + 2866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1343.3975, + 2866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 1393.3975, + 2953.2051, + 850.0 + ], + "actual_end_pos": [ + 1393.3975, + 2953.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1393.3975, + 2953.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 1393.3975, + 2953.2051, + 850.0 + ], + "actual_end_pos": [ + 1393.3975, + 2953.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1393.3975, + 2953.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 1393.3975, + 2953.2051, + 850.0 + ], + "actual_end_pos": [ + 1393.3975, + 2953.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1393.3975, + 2953.2051, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 1393.3975, + 2953.2051, + 850.0 + ], + "actual_end_pos": [ + 1393.3975, + 2953.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1393.3975, + 2953.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1293.3975, + 2953.2051, + 850.0 + ], + "actual_end_pos": [ + 1293.3975, + 2953.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1293.3975, + 2953.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1293.3975, + 2853.2051, + 850.0 + ], + "actual_end_pos": [ + 1293.3975, + 2853.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1293.3975, + 2853.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1293.3975, + 2753.2051, + 850.0 + ], + "actual_end_pos": [ + 1293.3975, + 2753.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1293.3975, + 2753.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1293.3975, + 2653.2051, + 850.0 + ], + "actual_end_pos": [ + 1293.3975, + 2653.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1293.3975, + 2653.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1293.3975, + 2553.2051, + 850.0 + ], + "actual_end_pos": [ + 1293.3975, + 2553.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1293.3975, + 2553.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "actual_end_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "actual_end_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "actual_end_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "actual_end_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "actual_end_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "actual_end_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "actual_end_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "actual_end_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "actual_end_pos": [ + 1293.3975, + 2453.2051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_003783_meta.json b/loop_easy/run_20260422_172644__traj_003783_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d411337d4b3c56031509345e4d520c866edabe7c --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_003783_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 3783, + "episode_id": 0, + "state_id": 2810, + "sample_index": 2810, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1280.0, + 4830.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "no_op", + "move_left", + "turn_left", + "move_left", + "turn_right", + "move_backward", + "move_left", + "no_op", + "move_left", + "move_forward", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_forward", + "move_right", + "move_right", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1280.0, + 4830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1280.0, + 4930.0, + 850.0 + ], + "actual_end_pos": [ + 1280.0, + 4930.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1280.0, + 4930.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1280.0, + 4930.0, + 850.0 + ], + "actual_end_pos": [ + 1280.0, + 4930.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1280.0, + 4930.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1380.0, + 4930.0, + 850.0 + ], + "actual_end_pos": [ + 1380.0, + 4930.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1380.0, + 4930.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1380.0, + 4930.0, + 850.0 + ], + "actual_end_pos": [ + 1380.0, + 4930.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1380.0, + 4930.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 1476.5926, + 4904.1181, + 850.0 + ], + "actual_end_pos": [ + 1476.5926, + 4904.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1476.5926, + 4904.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 1476.5926, + 4904.1181, + 850.0 + ], + "actual_end_pos": [ + 1476.5926, + 4904.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1476.5926, + 4904.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1476.5926, + 4804.1181, + 850.0 + ], + "actual_end_pos": [ + 1476.5926, + 4804.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1476.5926, + 4804.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1576.5926, + 4804.1181, + 850.0 + ], + "actual_end_pos": [ + 1576.5926, + 4804.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1576.5926, + 4804.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1576.5926, + 4804.1181, + 850.0 + ], + "actual_end_pos": [ + 1576.5926, + 4804.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1576.5926, + 4804.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1676.5926, + 4804.1181, + 850.0 + ], + "actual_end_pos": [ + 1676.5926, + 4804.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1676.5926, + 4804.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1676.5926, + 4904.1181, + 850.0 + ], + "actual_end_pos": [ + 1676.5926, + 4904.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1676.5926, + 4904.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1676.5926, + 4904.1181, + 850.0 + ], + "actual_end_pos": [ + 1676.5926, + 4904.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1676.5926, + 4904.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 1580.0, + 4878.2362, + 850.0 + ], + "actual_end_pos": [ + 1580.0, + 4878.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1580.0, + 4878.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 1483.4074, + 4852.3543, + 850.0 + ], + "actual_end_pos": [ + 1483.4074, + 4852.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1483.4074, + 4852.3543, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 1386.8148, + 4826.4724, + 850.0 + ], + "actual_end_pos": [ + 1386.8148, + 4826.4724, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1386.8148, + 4826.4724, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 1290.2223, + 4800.5905, + 850.0 + ], + "actual_end_pos": [ + 1290.2223, + 4800.5905, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1290.2223, + 4800.5905, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 1290.2223, + 4800.5905, + 850.0 + ], + "actual_end_pos": [ + 1290.2223, + 4800.5905, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1290.2223, + 4800.5905, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 1290.2223, + 4800.5905, + 850.0 + ], + "actual_end_pos": [ + 1290.2223, + 4800.5905, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1290.2223, + 4800.5905, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1219.5116, + 4871.3012, + 850.0 + ], + "actual_end_pos": [ + 1219.5116, + 4871.3012, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1219.5116, + 4871.3012, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1148.8009, + 4800.5905, + 850.0 + ], + "actual_end_pos": [ + 1148.8009, + 4800.5905, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1148.8009, + 4800.5905, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1078.0902, + 4729.8798, + 850.0 + ], + "actual_end_pos": [ + 1078.0902, + 4729.8798, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1078.0902, + 4729.8798, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1078.0902, + 4729.8798, + 850.0 + ], + "actual_end_pos": [ + 1078.0902, + 4729.8798, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1078.0902, + 4729.8798, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 1078.0902, + 4729.8798, + 850.0 + ], + "actual_end_pos": [ + 1078.0902, + 4729.8798, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1078.0902, + 4729.8798, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 1078.0902, + 4729.8798, + 850.0 + ], + "actual_end_pos": [ + 1078.0902, + 4729.8798, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1078.0902, + 4729.8798, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1078.0902, + 4829.8798, + 850.0 + ], + "actual_end_pos": [ + 1078.0902, + 4829.8798, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1078.0902, + 4829.8798, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1178.0902, + 4829.8798, + 850.0 + ], + "actual_end_pos": [ + 1178.0902, + 4829.8798, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1178.0902, + 4829.8798, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_pos": [ + 1278.0902, + 4829.8798, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_003961_meta.json b/loop_easy/run_20260422_172644__traj_003961_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..78d4713f0bee57c34ea211c4df125826d97e14f2 --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_003961_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 3961, + "episode_id": 0, + "state_id": 2941, + "sample_index": 2941, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1480.0, + 2830.0, + 850.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_forward", + "move_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "no_op", + "no_op", + "move_forward", + "move_right", + "move_right", + "move_forward", + "move_left", + "move_left", + "no_op", + "no_op", + "move_forward", + "turn_right", + "move_left", + "turn_left", + "turn_left", + "move_backward", + "move_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1480.0, + 2830.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1409.2893, + 2900.7107, + 850.0 + ], + "actual_end_pos": [ + 1409.2893, + 2900.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1409.2893, + 2900.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1338.5786, + 2830.0, + 850.0 + ], + "actual_end_pos": [ + 1338.5786, + 2830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1338.5786, + 2830.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1409.2893, + 2759.2893, + 850.0 + ], + "actual_end_pos": [ + 1409.2893, + 2759.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1409.2893, + 2759.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1409.2893, + 2759.2893, + 850.0 + ], + "actual_end_pos": [ + 1409.2893, + 2759.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1409.2893, + 2759.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1409.2893, + 2759.2893, + 850.0 + ], + "actual_end_pos": [ + 1409.2893, + 2759.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1409.2893, + 2759.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1383.4074, + 2662.6967, + 850.0 + ], + "actual_end_pos": [ + 1383.4074, + 2662.6967, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1383.4074, + 2662.6967, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1357.5255, + 2566.1042, + 850.0 + ], + "actual_end_pos": [ + 1357.5255, + 2566.1042, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1357.5255, + 2566.1042, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1357.5255, + 2566.1042, + 850.0 + ], + "actual_end_pos": [ + 1357.5255, + 2566.1042, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1357.5255, + 2566.1042, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1357.5255, + 2566.1042, + 850.0 + ], + "actual_end_pos": [ + 1357.5255, + 2566.1042, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1357.5255, + 2566.1042, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1331.6436, + 2469.5116, + 850.0 + ], + "actual_end_pos": [ + 1331.6436, + 2469.5116, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1331.6436, + 2469.5116, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1428.2362, + 2443.6297, + 850.0 + ], + "actual_end_pos": [ + 1428.2362, + 2443.6297, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1428.2362, + 2443.6297, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1524.8288, + 2417.7478, + 850.0 + ], + "actual_end_pos": [ + 1524.8288, + 2417.7478, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1524.8288, + 2417.7478, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1498.9469, + 2321.1552, + 850.0 + ], + "actual_end_pos": [ + 1498.9469, + 2321.1552, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1498.9469, + 2321.1552, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1402.3543, + 2347.0371, + 850.0 + ], + "actual_end_pos": [ + 1402.3543, + 2347.0371, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1402.3543, + 2347.0371, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1305.7617, + 2372.919, + 850.0 + ], + "actual_end_pos": [ + 1305.7617, + 2372.919, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1305.7617, + 2372.919, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1305.7617, + 2372.919, + 850.0 + ], + "actual_end_pos": [ + 1305.7617, + 2372.919, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1305.7617, + 2372.919, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1305.7617, + 2372.919, + 850.0 + ], + "actual_end_pos": [ + 1305.7617, + 2372.919, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1305.7617, + 2372.919, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1279.8798, + 2276.3264, + 850.0 + ], + "actual_end_pos": [ + 1279.8798, + 2276.3264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1279.8798, + 2276.3264, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1279.8798, + 2276.3264, + 850.0 + ], + "actual_end_pos": [ + 1279.8798, + 2276.3264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1279.8798, + 2276.3264, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1179.8798, + 2276.3264, + 850.0 + ], + "actual_end_pos": [ + 1179.8798, + 2276.3264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1179.8798, + 2276.3264, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1179.8798, + 2276.3264, + 850.0 + ], + "actual_end_pos": [ + 1179.8798, + 2276.3264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1179.8798, + 2276.3264, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1179.8798, + 2276.3264, + 850.0 + ], + "actual_end_pos": [ + 1179.8798, + 2276.3264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1179.8798, + 2276.3264, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1229.8798, + 2362.9289, + 850.0 + ], + "actual_end_pos": [ + 1229.8798, + 2362.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1229.8798, + 2362.9289, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1143.2773, + 2412.9289, + 850.0 + ], + "actual_end_pos": [ + 1143.2773, + 2412.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1143.2773, + 2412.9289, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1143.2773, + 2412.9289, + 850.0 + ], + "actual_end_pos": [ + 1143.2773, + 2412.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1143.2773, + 2412.9289, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1213.9879, + 2483.6396, + 850.0 + ], + "actual_end_pos": [ + 1213.9879, + 2483.6396, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1213.9879, + 2483.6396, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1284.6986, + 2554.3503, + 850.0 + ], + "actual_end_pos": [ + 1284.6986, + 2554.3503, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1284.6986, + 2554.3503, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1355.4093, + 2625.061, + 850.0 + ], + "actual_end_pos": [ + 1355.4093, + 2625.061, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1355.4093, + 2625.061, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1426.12, + 2695.7717, + 850.0 + ], + "actual_end_pos": [ + 1426.12, + 2695.7717, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1426.12, + 2695.7717, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1496.8306, + 2766.4823, + 850.0 + ], + "actual_end_pos": [ + 1496.8306, + 2766.4823, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1496.8306, + 2766.4823, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "actual_end_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "actual_end_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "actual_end_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "actual_end_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "actual_end_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "actual_end_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "actual_end_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "actual_end_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "actual_end_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "actual_end_pos": [ + 1426.12, + 2837.193, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_004515_meta.json b/loop_easy/run_20260422_172644__traj_004515_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..28027f09bf6c2e935190e19da47e3f57e88ac331 --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_004515_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 4515, + "episode_id": 0, + "state_id": 3357, + "sample_index": 3357, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2080.0, + -570.0, + 850.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_right", + "no_op", + "no_op", + "move_left", + "turn_left", + "move_forward", + "move_left", + "turn_left", + "move_right", + "no_op", + "move_backward", + "move_right", + "move_right", + "move_forward", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2080.0, + -570.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2009.2893, + -640.7107, + 850.0 + ], + "actual_end_pos": [ + 2009.2893, + -640.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2009.2893, + -640.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2009.2893, + -640.7107, + 850.0 + ], + "actual_end_pos": [ + 2009.2893, + -640.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2009.2893, + -640.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2009.2893, + -640.7107, + 850.0 + ], + "actual_end_pos": [ + 2009.2893, + -640.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2009.2893, + -640.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2009.2893, + -640.7107, + 850.0 + ], + "actual_end_pos": [ + 2009.2893, + -640.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2009.2893, + -640.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1922.6868, + -590.7107, + 850.0 + ], + "actual_end_pos": [ + 1922.6868, + -590.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1922.6868, + -590.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1922.6868, + -590.7107, + 850.0 + ], + "actual_end_pos": [ + 1922.6868, + -590.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1922.6868, + -590.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1851.9761, + -661.4214, + 850.0 + ], + "actual_end_pos": [ + 1851.9761, + -661.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1851.9761, + -661.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1781.2654, + -590.7107, + 850.0 + ], + "actual_end_pos": [ + 1781.2654, + -590.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1781.2654, + -590.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1781.2654, + -590.7107, + 850.0 + ], + "actual_end_pos": [ + 1781.2654, + -590.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1781.2654, + -590.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1831.2654, + -677.3132, + 850.0 + ], + "actual_end_pos": [ + 1831.2654, + -677.3132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1831.2654, + -677.3132, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1831.2654, + -677.3132, + 850.0 + ], + "actual_end_pos": [ + 1831.2654, + -677.3132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1831.2654, + -677.3132, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1917.868, + -627.3132, + 850.0 + ], + "actual_end_pos": [ + 1917.868, + -627.3132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1917.868, + -627.3132, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1967.868, + -713.9158, + 850.0 + ], + "actual_end_pos": [ + 1967.868, + -713.9158, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1967.868, + -713.9158, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2017.868, + -800.5183, + 850.0 + ], + "actual_end_pos": [ + 2017.868, + -800.5183, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2017.868, + -800.5183, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1931.2654, + -850.5183, + 850.0 + ], + "actual_end_pos": [ + 1931.2654, + -850.5183, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1931.2654, + -850.5183, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1931.2654, + -850.5183, + 850.0 + ], + "actual_end_pos": [ + 1931.2654, + -850.5183, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1931.2654, + -850.5183, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2001.9761, + -779.8076, + 850.0 + ], + "actual_end_pos": [ + 2001.9761, + -779.8076, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2001.9761, + -779.8076, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -709.0969, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -709.0969, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2072.6868, + -709.0969, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2143.3975, + -638.3863, + 850.0 + ], + "actual_end_pos": [ + 2143.3975, + -638.3863, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2143.3975, + -638.3863, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_pos": [ + 2072.6868, + -567.6756, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_004640_meta.json b/loop_easy/run_20260422_172644__traj_004640_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9c224106845798a5e7173abdf5ceb9c3cdcdc5f7 --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_004640_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 4640, + "episode_id": 0, + "state_id": 3449, + "sample_index": 3449, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2080.0, + 3030.0, + 850.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "move_backward", + "move_left", + "no_op", + "move_left", + "move_forward", + "turn_left", + "move_right", + "move_forward", + "move_left", + "move_forward", + "no_op", + "no_op", + "move_backward", + "no_op", + "turn_right", + "move_left", + "move_left", + "move_forward", + "move_right", + "move_forward", + "turn_left", + "no_op", + "move_left", + "move_backward", + "move_right", + "turn_right", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "actual_end_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2009.2893, + 2959.2893, + 850.0 + ], + "actual_end_pos": [ + 2009.2893, + 2959.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2009.2893, + 2959.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2080.0, + 2888.5786, + 850.0 + ], + "actual_end_pos": [ + 2080.0, + 2888.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2080.0, + 2888.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2080.0, + 2888.5786, + 850.0 + ], + "actual_end_pos": [ + 2080.0, + 2888.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2080.0, + 2888.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2150.7107, + 2817.868, + 850.0 + ], + "actual_end_pos": [ + 2150.7107, + 2817.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2150.7107, + 2817.868, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2221.4214, + 2888.5786, + 850.0 + ], + "actual_end_pos": [ + 2221.4214, + 2888.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2221.4214, + 2888.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2221.4214, + 2888.5786, + 850.0 + ], + "actual_end_pos": [ + 2221.4214, + 2888.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2221.4214, + 2888.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2171.4214, + 2975.1812, + 850.0 + ], + "actual_end_pos": [ + 2171.4214, + 2975.1812, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2171.4214, + 2975.1812, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2258.0239, + 3025.1812, + 850.0 + ], + "actual_end_pos": [ + 2258.0239, + 3025.1812, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2258.0239, + 3025.1812, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2308.0239, + 2938.5786, + 850.0 + ], + "actual_end_pos": [ + 2308.0239, + 2938.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2308.0239, + 2938.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2394.6264, + 2988.5786, + 850.0 + ], + "actual_end_pos": [ + 2394.6264, + 2988.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2394.6264, + 2988.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2394.6264, + 2988.5786, + 850.0 + ], + "actual_end_pos": [ + 2394.6264, + 2988.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2394.6264, + 2988.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2394.6264, + 2988.5786, + 850.0 + ], + "actual_end_pos": [ + 2394.6264, + 2988.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2394.6264, + 2988.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2308.0239, + 2938.5786, + 850.0 + ], + "actual_end_pos": [ + 2308.0239, + 2938.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2308.0239, + 2938.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2308.0239, + 2938.5786, + 850.0 + ], + "actual_end_pos": [ + 2308.0239, + 2938.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2308.0239, + 2938.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2308.0239, + 2938.5786, + 850.0 + ], + "actual_end_pos": [ + 2308.0239, + 2938.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2308.0239, + 2938.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2378.7346, + 2867.868, + 850.0 + ], + "actual_end_pos": [ + 2378.7346, + 2867.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2378.7346, + 2867.868, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2449.4453, + 2797.1573, + 850.0 + ], + "actual_end_pos": [ + 2449.4453, + 2797.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2449.4453, + 2797.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2520.1559, + 2867.868, + 850.0 + ], + "actual_end_pos": [ + 2520.1559, + 2867.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2520.1559, + 2867.868, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2449.4453, + 2938.5786, + 850.0 + ], + "actual_end_pos": [ + 2449.4453, + 2938.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2449.4453, + 2938.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2520.1559, + 3009.2893, + 850.0 + ], + "actual_end_pos": [ + 2520.1559, + 3009.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2520.1559, + 3009.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2520.1559, + 3009.2893, + 850.0 + ], + "actual_end_pos": [ + 2520.1559, + 3009.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2520.1559, + 3009.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2520.1559, + 3009.2893, + 850.0 + ], + "actual_end_pos": [ + 2520.1559, + 3009.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2520.1559, + 3009.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2570.1559, + 2922.6868, + 850.0 + ], + "actual_end_pos": [ + 2570.1559, + 2922.6868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2570.1559, + 2922.6868, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2483.5534, + 2872.6868, + 850.0 + ], + "actual_end_pos": [ + 2483.5534, + 2872.6868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2483.5534, + 2872.6868, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2433.5534, + 2959.2893, + 850.0 + ], + "actual_end_pos": [ + 2433.5534, + 2959.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2433.5534, + 2959.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2433.5534, + 2959.2893, + 850.0 + ], + "actual_end_pos": [ + 2433.5534, + 2959.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2433.5534, + 2959.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2362.8427, + 2888.5786, + 850.0 + ], + "actual_end_pos": [ + 2362.8427, + 2888.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2362.8427, + 2888.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2292.132, + 2817.868, + 850.0 + ], + "actual_end_pos": [ + 2292.132, + 2817.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2292.132, + 2817.868, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2221.4214, + 2888.5786, + 850.0 + ], + "actual_end_pos": [ + 2221.4214, + 2888.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2221.4214, + 2888.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2150.7107, + 2959.2893, + 850.0 + ], + "actual_end_pos": [ + 2150.7107, + 2959.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2150.7107, + 2959.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "actual_end_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "actual_end_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "actual_end_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "actual_end_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "actual_end_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "actual_end_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "actual_end_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "actual_end_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "actual_end_pos": [ + 2080.0, + 3030.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_005372_meta.json b/loop_easy/run_20260422_172644__traj_005372_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8339089841571dc2060b7e5406002dbe67d7ec5a --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_005372_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 5372, + "episode_id": 0, + "state_id": 3999, + "sample_index": 3999, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2880.0, + -770.0, + 850.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "no_op", + "turn_left", + "turn_left", + "no_op", + "move_backward", + "turn_right", + "move_forward", + "no_op", + "turn_right", + "move_backward", + "no_op", + "no_op", + "turn_left", + "move_forward", + "turn_right", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2880.0, + -770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2880.0, + -770.0, + 850.0 + ], + "actual_end_pos": [ + 2880.0, + -770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2880.0, + -770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2880.0, + -770.0, + 850.0 + ], + "actual_end_pos": [ + 2880.0, + -770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2880.0, + -770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2880.0, + -770.0, + 850.0 + ], + "actual_end_pos": [ + 2880.0, + -770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2880.0, + -770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2880.0, + -770.0, + 850.0 + ], + "actual_end_pos": [ + 2880.0, + -770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2880.0, + -770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2880.0, + -770.0, + 850.0 + ], + "actual_end_pos": [ + 2880.0, + -770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2880.0, + -770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2880.0, + -670.0, + 850.0 + ], + "actual_end_pos": [ + 2880.0, + -670.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2880.0, + -670.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2880.0, + -670.0, + 850.0 + ], + "actual_end_pos": [ + 2880.0, + -670.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2880.0, + -670.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2905.8819, + -766.5926, + 850.0 + ], + "actual_end_pos": [ + 2905.8819, + -766.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2905.8819, + -766.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2905.8819, + -766.5926, + 850.0 + ], + "actual_end_pos": [ + 2905.8819, + -766.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2905.8819, + -766.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2905.8819, + -766.5926, + 850.0 + ], + "actual_end_pos": [ + 2905.8819, + -766.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2905.8819, + -766.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2855.8819, + -679.99, + 850.0 + ], + "actual_end_pos": [ + 2855.8819, + -679.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2855.8819, + -679.99, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2855.8819, + -679.99, + 850.0 + ], + "actual_end_pos": [ + 2855.8819, + -679.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2855.8819, + -679.99, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2855.8819, + -679.99, + 850.0 + ], + "actual_end_pos": [ + 2855.8819, + -679.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2855.8819, + -679.99, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2855.8819, + -679.99, + 850.0 + ], + "actual_end_pos": [ + 2855.8819, + -679.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2855.8819, + -679.99, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_pos": [ + 2881.7638, + -776.5826, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_005492_meta.json b/loop_easy/run_20260422_172644__traj_005492_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..15593d0174f354053ce218de166e8c0436c8430e --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_005492_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 5492, + "episode_id": 0, + "state_id": 4090, + "sample_index": 4090, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 3080.0, + 2230.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_forward", + "move_forward", + "move_left", + "move_left", + "no_op", + "move_left", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "move_left", + "no_op", + "move_right", + "move_forward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3180.0, + 2230.0, + 850.0 + ], + "actual_end_pos": [ + 3180.0, + 2230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3180.0, + 2230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3180.0, + 2330.0, + 850.0 + ], + "actual_end_pos": [ + 3180.0, + 2330.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3180.0, + 2330.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3180.0, + 2430.0, + 850.0 + ], + "actual_end_pos": [ + 3180.0, + 2430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3180.0, + 2430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3280.0, + 2430.0, + 850.0 + ], + "actual_end_pos": [ + 3280.0, + 2430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3280.0, + 2430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3380.0, + 2430.0, + 850.0 + ], + "actual_end_pos": [ + 3380.0, + 2430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3380.0, + 2430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3380.0, + 2430.0, + 850.0 + ], + "actual_end_pos": [ + 3380.0, + 2430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3380.0, + 2430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3480.0, + 2430.0, + 850.0 + ], + "actual_end_pos": [ + 3480.0, + 2430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3480.0, + 2430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3480.0, + 2530.0, + 850.0 + ], + "actual_end_pos": [ + 3480.0, + 2530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3480.0, + 2530.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3480.0, + 2630.0, + 850.0 + ], + "actual_end_pos": [ + 3480.0, + 2630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3480.0, + 2630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3580.0, + 2630.0, + 850.0 + ], + "actual_end_pos": [ + 3580.0, + 2630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3580.0, + 2630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3580.0, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 3580.0, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3580.0, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3680.0, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 3680.0, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3680.0, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3680.0, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 3680.0, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3680.0, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3580.0, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 3580.0, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3580.0, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3580.0, + 2830.0, + 850.0 + ], + "actual_end_pos": [ + 3580.0, + 2830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3580.0, + 2830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3580.0, + 2730.0, + 850.0 + ], + "actual_end_pos": [ + 3580.0, + 2730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3580.0, + 2730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3580.0, + 2630.0, + 850.0 + ], + "actual_end_pos": [ + 3580.0, + 2630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3580.0, + 2630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3580.0, + 2530.0, + 850.0 + ], + "actual_end_pos": [ + 3580.0, + 2530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3580.0, + 2530.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3580.0, + 2430.0, + 850.0 + ], + "actual_end_pos": [ + 3580.0, + 2430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3580.0, + 2430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3580.0, + 2330.0, + 850.0 + ], + "actual_end_pos": [ + 3580.0, + 2330.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3580.0, + 2330.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3580.0, + 2230.0, + 850.0 + ], + "actual_end_pos": [ + 3580.0, + 2230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3580.0, + 2230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3480.0, + 2230.0, + 850.0 + ], + "actual_end_pos": [ + 3480.0, + 2230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3480.0, + 2230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3380.0, + 2230.0, + 850.0 + ], + "actual_end_pos": [ + 3380.0, + 2230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3380.0, + 2230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3280.0, + 2230.0, + 850.0 + ], + "actual_end_pos": [ + 3280.0, + 2230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3280.0, + 2230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3180.0, + 2230.0, + 850.0 + ], + "actual_end_pos": [ + 3180.0, + 2230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3180.0, + 2230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_pos": [ + 3080.0, + 2230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_005739_meta.json b/loop_easy/run_20260422_172644__traj_005739_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..65936ade5d24c680f20884a99051780ec22f9619 --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_005739_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 5739, + "episode_id": 0, + "state_id": 4273, + "sample_index": 4273, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 3480.0, + 4830.0, + 850.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "turn_left", + "turn_left", + "move_right", + "turn_right", + "move_right", + "move_left", + "turn_left", + "move_forward", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3480.0, + 4830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3480.0, + 4830.0, + 850.0 + ], + "actual_end_pos": [ + 3480.0, + 4830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3480.0, + 4830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3480.0, + 4830.0, + 850.0 + ], + "actual_end_pos": [ + 3480.0, + 4830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3480.0, + 4830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3480.0, + 4830.0, + 850.0 + ], + "actual_end_pos": [ + 3480.0, + 4830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3480.0, + 4830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3480.0, + 4930.0, + 850.0 + ], + "actual_end_pos": [ + 3480.0, + 4930.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3480.0, + 4930.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3480.0, + 4930.0, + 850.0 + ], + "actual_end_pos": [ + 3480.0, + 4930.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3480.0, + 4930.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3454.1181, + 5026.5926, + 850.0 + ], + "actual_end_pos": [ + 3454.1181, + 5026.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3454.1181, + 5026.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3480.0, + 4930.0, + 850.0 + ], + "actual_end_pos": [ + 3480.0, + 4930.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3480.0, + 4930.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3480.0, + 4930.0, + 850.0 + ], + "actual_end_pos": [ + 3480.0, + 4930.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3480.0, + 4930.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3580.0, + 4930.0, + 850.0 + ], + "actual_end_pos": [ + 3580.0, + 4930.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3580.0, + 4930.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3580.0, + 4830.0, + 850.0 + ], + "actual_end_pos": [ + 3580.0, + 4830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3580.0, + 4830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3580.0, + 4730.0, + 850.0 + ], + "actual_end_pos": [ + 3580.0, + 4730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3580.0, + 4730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3580.0, + 4630.0, + 850.0 + ], + "actual_end_pos": [ + 3580.0, + 4630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3580.0, + 4630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3580.0, + 4630.0, + 850.0 + ], + "actual_end_pos": [ + 3580.0, + 4630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3580.0, + 4630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3676.5926, + 4655.8819, + 850.0 + ], + "actual_end_pos": [ + 3676.5926, + 4655.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3676.5926, + 4655.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3773.1852, + 4681.7638, + 850.0 + ], + "actual_end_pos": [ + 3773.1852, + 4681.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3773.1852, + 4681.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3773.1852, + 4681.7638, + 850.0 + ], + "actual_end_pos": [ + 3773.1852, + 4681.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3773.1852, + 4681.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3723.1852, + 4768.3663, + 850.0 + ], + "actual_end_pos": [ + 3723.1852, + 4768.3663, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3723.1852, + 4768.3663, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3673.1852, + 4854.9689, + 850.0 + ], + "actual_end_pos": [ + 3673.1852, + 4854.9689, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3673.1852, + 4854.9689, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3623.1852, + 4941.5714, + 850.0 + ], + "actual_end_pos": [ + 3623.1852, + 4941.5714, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3623.1852, + 4941.5714, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3623.1852, + 4941.5714, + 850.0 + ], + "actual_end_pos": [ + 3623.1852, + 4941.5714, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3623.1852, + 4941.5714, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3552.4745, + 4870.8608, + 850.0 + ], + "actual_end_pos": [ + 3552.4745, + 4870.8608, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3552.4745, + 4870.8608, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_pos": [ + 3481.7638, + 4800.1501, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_005883_meta.json b/loop_easy/run_20260422_172644__traj_005883_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f7e300c47432ee97cd079b80e0ce5e5eeed01963 --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_005883_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 5883, + "episode_id": 0, + "state_id": 4377, + "sample_index": 4377, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 3680.0, + 4630.0, + 850.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_forward", + "no_op", + "turn_right", + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_forward", + "move_left", + "turn_left", + "move_backward", + "move_left", + "move_forward", + "move_right", + "move_backward", + "move_backward", + "move_right", + "move_backward", + "move_right", + "move_backward", + "no_op", + "turn_right", + "turn_right", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3680.0, + 4630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3680.0, + 4630.0, + 850.0 + ], + "actual_end_pos": [ + 3680.0, + 4630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3680.0, + 4630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3766.6025, + 4680.0, + 850.0 + ], + "actual_end_pos": [ + 3766.6025, + 4680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3766.6025, + 4680.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3766.6025, + 4680.0, + 850.0 + ], + "actual_end_pos": [ + 3766.6025, + 4680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3766.6025, + 4680.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3766.6025, + 4680.0, + 850.0 + ], + "actual_end_pos": [ + 3766.6025, + 4680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3766.6025, + 4680.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3837.3132, + 4609.2893, + 850.0 + ], + "actual_end_pos": [ + 3837.3132, + 4609.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3837.3132, + 4609.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3908.0239, + 4538.5786, + 850.0 + ], + "actual_end_pos": [ + 3908.0239, + 4538.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3908.0239, + 4538.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3978.7346, + 4467.868, + 850.0 + ], + "actual_end_pos": [ + 3978.7346, + 4467.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3978.7346, + 4467.868, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3978.7346, + 4467.868, + 850.0 + ], + "actual_end_pos": [ + 3978.7346, + 4467.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3978.7346, + 4467.868, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3978.7346, + 4467.868, + 850.0 + ], + "actual_end_pos": [ + 3978.7346, + 4467.868, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3978.7346, + 4467.868, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4075.3272, + 4493.7499, + 850.0 + ], + "actual_end_pos": [ + 4075.3272, + 4493.7499, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4075.3272, + 4493.7499, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4101.2091, + 4397.1573, + 850.0 + ], + "actual_end_pos": [ + 4101.2091, + 4397.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4101.2091, + 4397.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4101.2091, + 4397.1573, + 850.0 + ], + "actual_end_pos": [ + 4101.2091, + 4397.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4101.2091, + 4397.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4001.2091, + 4397.1573, + 850.0 + ], + "actual_end_pos": [ + 4001.2091, + 4397.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4001.2091, + 4397.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4001.2091, + 4297.1573, + 850.0 + ], + "actual_end_pos": [ + 4001.2091, + 4297.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4001.2091, + 4297.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4101.2091, + 4297.1573, + 850.0 + ], + "actual_end_pos": [ + 4101.2091, + 4297.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4101.2091, + 4297.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4101.2091, + 4397.1573, + 850.0 + ], + "actual_end_pos": [ + 4101.2091, + 4397.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4101.2091, + 4397.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4001.2091, + 4397.1573, + 850.0 + ], + "actual_end_pos": [ + 4001.2091, + 4397.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4001.2091, + 4397.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3901.2091, + 4397.1573, + 850.0 + ], + "actual_end_pos": [ + 3901.2091, + 4397.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3901.2091, + 4397.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3901.2091, + 4497.1573, + 850.0 + ], + "actual_end_pos": [ + 3901.2091, + 4497.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3901.2091, + 4497.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3801.2091, + 4497.1573, + 850.0 + ], + "actual_end_pos": [ + 3801.2091, + 4497.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3801.2091, + 4497.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3801.2091, + 4597.1573, + 850.0 + ], + "actual_end_pos": [ + 3801.2091, + 4597.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3801.2091, + 4597.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_pos": [ + 3701.2091, + 4597.1573, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_005890_meta.json b/loop_easy/run_20260422_172644__traj_005890_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e6d910475db006af65cb8a62da18c6c8665e00f --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_005890_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 5890, + "episode_id": 0, + "state_id": 4384, + "sample_index": 4384, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 3680.0, + 4830.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_left", + "no_op", + "no_op", + "move_forward", + "move_forward", + "no_op", + "move_left", + "move_backward", + "turn_right", + "turn_right", + "move_forward", + "move_right", + "turn_right", + "move_backward", + "move_right", + "turn_left", + "move_right", + "turn_left", + "move_left", + "move_forward", + "turn_left", + "turn_right", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3680.0, + 4830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3680.0, + 4830.0, + 850.0 + ], + "actual_end_pos": [ + 3680.0, + 4830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3680.0, + 4830.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 3654.1181, + 4733.4074, + 850.0 + ], + "actual_end_pos": [ + 3654.1181, + 4733.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3654.1181, + 4733.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 3654.1181, + 4733.4074, + 850.0 + ], + "actual_end_pos": [ + 3654.1181, + 4733.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3654.1181, + 4733.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 3654.1181, + 4733.4074, + 850.0 + ], + "actual_end_pos": [ + 3654.1181, + 4733.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3654.1181, + 4733.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 3750.7107, + 4707.5255, + 850.0 + ], + "actual_end_pos": [ + 3750.7107, + 4707.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3750.7107, + 4707.5255, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 3847.3033, + 4681.6436, + 850.0 + ], + "actual_end_pos": [ + 3847.3033, + 4681.6436, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3847.3033, + 4681.6436, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 3847.3033, + 4681.6436, + 850.0 + ], + "actual_end_pos": [ + 3847.3033, + 4681.6436, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3847.3033, + 4681.6436, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 3821.4214, + 4585.051, + 850.0 + ], + "actual_end_pos": [ + 3821.4214, + 4585.051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3821.4214, + 4585.051, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 3724.8288, + 4610.9329, + 850.0 + ], + "actual_end_pos": [ + 3724.8288, + 4610.9329, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3724.8288, + 4610.9329, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 3724.8288, + 4610.9329, + 850.0 + ], + "actual_end_pos": [ + 3724.8288, + 4610.9329, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3724.8288, + 4610.9329, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3724.8288, + 4610.9329, + 850.0 + ], + "actual_end_pos": [ + 3724.8288, + 4610.9329, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3724.8288, + 4610.9329, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3821.4214, + 4636.8148, + 850.0 + ], + "actual_end_pos": [ + 3821.4214, + 4636.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3821.4214, + 4636.8148, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3795.5395, + 4733.4074, + 850.0 + ], + "actual_end_pos": [ + 3795.5395, + 4733.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3795.5395, + 4733.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3795.5395, + 4733.4074, + 850.0 + ], + "actual_end_pos": [ + 3795.5395, + 4733.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3795.5395, + 4733.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3708.9369, + 4683.4074, + 850.0 + ], + "actual_end_pos": [ + 3708.9369, + 4683.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3708.9369, + 4683.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3658.9369, + 4770.01, + 850.0 + ], + "actual_end_pos": [ + 3658.9369, + 4770.01, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3658.9369, + 4770.01, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 3658.9369, + 4770.01, + 850.0 + ], + "actual_end_pos": [ + 3658.9369, + 4770.01, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3658.9369, + 4770.01, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3633.055, + 4766.6025, + 850.0 + ], + "actual_end_pos": [ + 3633.055, + 4766.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3633.055, + 4766.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3733.055, + 4766.6025, + 850.0 + ], + "actual_end_pos": [ + 3733.055, + 4766.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3733.055, + 4766.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3733.055, + 4766.6025, + 850.0 + ], + "actual_end_pos": [ + 3733.055, + 4766.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3733.055, + 4766.6025, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 3733.055, + 4766.6025, + 850.0 + ], + "actual_end_pos": [ + 3733.055, + 4766.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3733.055, + 4766.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3633.055, + 4766.6025, + 850.0 + ], + "actual_end_pos": [ + 3633.055, + 4766.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3633.055, + 4766.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_pos": [ + 3633.055, + 4866.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_006029_meta.json b/loop_easy/run_20260422_172644__traj_006029_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7ee16cbd98a6ed8c7c5c87193740f4744a7b7ed8 --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_006029_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 6029, + "episode_id": 0, + "state_id": 4483, + "sample_index": 4483, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 4080.0, + -2170.0, + 850.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "no_op", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_left", + "turn_left", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_forward", + "move_right", + "move_right", + "move_right", + "turn_left", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4080.0, + -2170.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 4150.7107, + -2099.2893, + 850.0 + ], + "actual_end_pos": [ + 4150.7107, + -2099.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4150.7107, + -2099.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 4150.7107, + -2099.2893, + 850.0 + ], + "actual_end_pos": [ + 4150.7107, + -2099.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4150.7107, + -2099.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4064.1081, + -2049.2893, + 850.0 + ], + "actual_end_pos": [ + 4064.1081, + -2049.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4064.1081, + -2049.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3977.5056, + -1999.2893, + 850.0 + ], + "actual_end_pos": [ + 3977.5056, + -1999.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3977.5056, + -1999.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3977.5056, + -1999.2893, + 850.0 + ], + "actual_end_pos": [ + 3977.5056, + -1999.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3977.5056, + -1999.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3977.5056, + -1999.2893, + 850.0 + ], + "actual_end_pos": [ + 3977.5056, + -1999.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3977.5056, + -1999.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4003.3875, + -1902.6967, + 850.0 + ], + "actual_end_pos": [ + 4003.3875, + -1902.6967, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4003.3875, + -1902.6967, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4029.2694, + -1806.1042, + 850.0 + ], + "actual_end_pos": [ + 4029.2694, + -1806.1042, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4029.2694, + -1806.1042, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4055.1513, + -1709.5116, + 850.0 + ], + "actual_end_pos": [ + 4055.1513, + -1709.5116, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4055.1513, + -1709.5116, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4081.0332, + -1612.919, + 850.0 + ], + "actual_end_pos": [ + 4081.0332, + -1612.919, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4081.0332, + -1612.919, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4081.0332, + -1612.919, + 850.0 + ], + "actual_end_pos": [ + 4081.0332, + -1612.919, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4081.0332, + -1612.919, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 4081.0332, + -1612.919, + 850.0 + ], + "actual_end_pos": [ + 4081.0332, + -1612.919, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4081.0332, + -1612.919, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 4055.1513, + -1516.3264, + 850.0 + ], + "actual_end_pos": [ + 4055.1513, + -1516.3264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4055.1513, + -1516.3264, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 4055.1513, + -1516.3264, + 850.0 + ], + "actual_end_pos": [ + 4055.1513, + -1516.3264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4055.1513, + -1516.3264, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 4155.1513, + -1516.3264, + 850.0 + ], + "actual_end_pos": [ + 4155.1513, + -1516.3264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4155.1513, + -1516.3264, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 4155.1513, + -1616.3264, + 850.0 + ], + "actual_end_pos": [ + 4155.1513, + -1616.3264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4155.1513, + -1616.3264, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 4155.1513, + -1716.3264, + 850.0 + ], + "actual_end_pos": [ + 4155.1513, + -1716.3264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4155.1513, + -1716.3264, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 4155.1513, + -1816.3264, + 850.0 + ], + "actual_end_pos": [ + 4155.1513, + -1816.3264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4155.1513, + -1816.3264, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 4155.1513, + -1916.3264, + 850.0 + ], + "actual_end_pos": [ + 4155.1513, + -1916.3264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4155.1513, + -1916.3264, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 4155.1513, + -1916.3264, + 850.0 + ], + "actual_end_pos": [ + 4155.1513, + -1916.3264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4155.1513, + -1916.3264, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 4058.5587, + -1942.2083, + 850.0 + ], + "actual_end_pos": [ + 4058.5587, + -1942.2083, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4058.5587, + -1942.2083, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 4084.4406, + -2038.8009, + 850.0 + ], + "actual_end_pos": [ + 4084.4406, + -2038.8009, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4084.4406, + -2038.8009, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 4110.3225, + -2135.3935, + 850.0 + ], + "actual_end_pos": [ + 4110.3225, + -2135.3935, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4110.3225, + -2135.3935, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 4136.2044, + -2231.9861, + 850.0 + ], + "actual_end_pos": [ + 4136.2044, + -2231.9861, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4136.2044, + -2231.9861, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 4136.2044, + -2231.9861, + 850.0 + ], + "actual_end_pos": [ + 4136.2044, + -2231.9861, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4136.2044, + -2231.9861, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 4036.2044, + -2231.9861, + 850.0 + ], + "actual_end_pos": [ + 4036.2044, + -2231.9861, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4036.2044, + -2231.9861, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 4036.2044, + -2231.9861, + 850.0 + ], + "actual_end_pos": [ + 4036.2044, + -2231.9861, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4036.2044, + -2231.9861, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4036.2044, + -2231.9861, + 850.0 + ], + "actual_end_pos": [ + 4036.2044, + -2231.9861, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4036.2044, + -2231.9861, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4036.2044, + -2231.9861, + 850.0 + ], + "actual_end_pos": [ + 4036.2044, + -2231.9861, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4036.2044, + -2231.9861, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_pos": [ + 4106.9151, + -2161.2754, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_006173_meta.json b/loop_easy/run_20260422_172644__traj_006173_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..953788612d8b3f36c32e94c22ded49cbfc2a9422 --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_006173_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 6173, + "episode_id": 0, + "state_id": 4592, + "sample_index": 4592, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 4280.0, + -1770.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_left", + "move_forward", + "move_forward", + "move_right", + "turn_right", + "move_right", + "move_backward", + "move_right", + "move_forward", + "move_left", + "move_backward", + "turn_right", + "no_op", + "move_forward", + "turn_left", + "move_right", + "move_right", + "move_backward", + "turn_left", + "no_op", + "turn_right", + "move_backward", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4280.0, + -1770.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4280.0, + -1770.0, + 850.0 + ], + "actual_end_pos": [ + 4280.0, + -1770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4280.0, + -1770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 4254.1181, + -1866.5926, + 850.0 + ], + "actual_end_pos": [ + 4254.1181, + -1866.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4254.1181, + -1866.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 4350.7107, + -1892.4745, + 850.0 + ], + "actual_end_pos": [ + 4350.7107, + -1892.4745, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4350.7107, + -1892.4745, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 4447.3033, + -1918.3564, + 850.0 + ], + "actual_end_pos": [ + 4447.3033, + -1918.3564, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4447.3033, + -1918.3564, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 4473.1852, + -1821.7638, + 850.0 + ], + "actual_end_pos": [ + 4473.1852, + -1821.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4473.1852, + -1821.7638, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 4473.1852, + -1821.7638, + 850.0 + ], + "actual_end_pos": [ + 4473.1852, + -1821.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4473.1852, + -1821.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4473.1852, + -1721.7638, + 850.0 + ], + "actual_end_pos": [ + 4473.1852, + -1721.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4473.1852, + -1721.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4373.1852, + -1721.7638, + 850.0 + ], + "actual_end_pos": [ + 4373.1852, + -1721.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4373.1852, + -1721.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4373.1852, + -1621.7638, + 850.0 + ], + "actual_end_pos": [ + 4373.1852, + -1621.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4373.1852, + -1621.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4473.1852, + -1621.7638, + 850.0 + ], + "actual_end_pos": [ + 4473.1852, + -1621.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4473.1852, + -1621.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4473.1852, + -1721.7638, + 850.0 + ], + "actual_end_pos": [ + 4473.1852, + -1721.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4473.1852, + -1721.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4373.1852, + -1721.7638, + 850.0 + ], + "actual_end_pos": [ + 4373.1852, + -1721.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4373.1852, + -1721.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4373.1852, + -1721.7638, + 850.0 + ], + "actual_end_pos": [ + 4373.1852, + -1721.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4373.1852, + -1721.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4373.1852, + -1721.7638, + 850.0 + ], + "actual_end_pos": [ + 4373.1852, + -1721.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4373.1852, + -1721.7638, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4469.7777, + -1695.8819, + 850.0 + ], + "actual_end_pos": [ + 4469.7777, + -1695.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4469.7777, + -1695.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4469.7777, + -1695.8819, + 850.0 + ], + "actual_end_pos": [ + 4469.7777, + -1695.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4469.7777, + -1695.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4469.7777, + -1595.8819, + 850.0 + ], + "actual_end_pos": [ + 4469.7777, + -1595.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4469.7777, + -1595.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4469.7777, + -1495.8819, + 850.0 + ], + "actual_end_pos": [ + 4469.7777, + -1495.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4469.7777, + -1495.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4369.7777, + -1495.8819, + 850.0 + ], + "actual_end_pos": [ + 4369.7777, + -1495.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4369.7777, + -1495.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4369.7777, + -1495.8819, + 850.0 + ], + "actual_end_pos": [ + 4369.7777, + -1495.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4369.7777, + -1495.8819, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 4369.7777, + -1495.8819, + 850.0 + ], + "actual_end_pos": [ + 4369.7777, + -1495.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4369.7777, + -1495.8819, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 4369.7777, + -1495.8819, + 850.0 + ], + "actual_end_pos": [ + 4369.7777, + -1495.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4369.7777, + -1495.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4269.7777, + -1495.8819, + 850.0 + ], + "actual_end_pos": [ + 4269.7777, + -1495.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4269.7777, + -1495.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4269.7777, + -1595.8819, + 850.0 + ], + "actual_end_pos": [ + 4269.7777, + -1595.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4269.7777, + -1595.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4269.7777, + -1695.8819, + 850.0 + ], + "actual_end_pos": [ + 4269.7777, + -1695.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4269.7777, + -1695.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_pos": [ + 4269.7777, + -1795.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_006204_meta.json b/loop_easy/run_20260422_172644__traj_006204_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d49c4e850680c18333f825d93653369f5dc7e4c --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_006204_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 6204, + "episode_id": 0, + "state_id": 4614, + "sample_index": 4614, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 4280.0, + -1370.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_backward", + "move_right", + "move_forward", + "move_forward", + "move_right", + "move_forward", + "move_forward", + "move_right", + "turn_right", + "move_left", + "turn_right", + "move_left", + "turn_right", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4280.0, + -1370.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4280.0, + -1370.0, + 850.0 + ], + "actual_end_pos": [ + 4280.0, + -1370.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4280.0, + -1370.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4254.1181, + -1273.4074, + 850.0 + ], + "actual_end_pos": [ + 4254.1181, + -1273.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4254.1181, + -1273.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4157.5255, + -1299.2893, + 850.0 + ], + "actual_end_pos": [ + 4157.5255, + -1299.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4157.5255, + -1299.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4060.9329, + -1325.1712, + 850.0 + ], + "actual_end_pos": [ + 4060.9329, + -1325.1712, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4060.9329, + -1325.1712, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 3964.3403, + -1351.0531, + 850.0 + ], + "actual_end_pos": [ + 3964.3403, + -1351.0531, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3964.3403, + -1351.0531, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 3938.4584, + -1254.4606, + 850.0 + ], + "actual_end_pos": [ + 3938.4584, + -1254.4606, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3938.4584, + -1254.4606, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4035.051, + -1228.5786, + 850.0 + ], + "actual_end_pos": [ + 4035.051, + -1228.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4035.051, + -1228.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4060.9329, + -1325.1712, + 850.0 + ], + "actual_end_pos": [ + 4060.9329, + -1325.1712, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4060.9329, + -1325.1712, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4086.8148, + -1421.7638, + 850.0 + ], + "actual_end_pos": [ + 4086.8148, + -1421.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4086.8148, + -1421.7638, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4183.4074, + -1395.8819, + 850.0 + ], + "actual_end_pos": [ + 4183.4074, + -1395.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4183.4074, + -1395.8819, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4209.2893, + -1492.4745, + 850.0 + ], + "actual_end_pos": [ + 4209.2893, + -1492.4745, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4209.2893, + -1492.4745, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4235.1712, + -1589.0671, + 850.0 + ], + "actual_end_pos": [ + 4235.1712, + -1589.0671, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4235.1712, + -1589.0671, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4331.7638, + -1563.1852, + 850.0 + ], + "actual_end_pos": [ + 4331.7638, + -1563.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4331.7638, + -1563.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4331.7638, + -1563.1852, + 850.0 + ], + "actual_end_pos": [ + 4331.7638, + -1563.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4331.7638, + -1563.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4245.1613, + -1613.1852, + 850.0 + ], + "actual_end_pos": [ + 4245.1613, + -1613.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4245.1613, + -1613.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4245.1613, + -1613.1852, + 850.0 + ], + "actual_end_pos": [ + 4245.1613, + -1613.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4245.1613, + -1613.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4174.4506, + -1683.8958, + 850.0 + ], + "actual_end_pos": [ + 4174.4506, + -1683.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4174.4506, + -1683.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4174.4506, + -1683.8958, + 850.0 + ], + "actual_end_pos": [ + 4174.4506, + -1683.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4174.4506, + -1683.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4174.4506, + -1683.8958, + 850.0 + ], + "actual_end_pos": [ + 4174.4506, + -1683.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4174.4506, + -1683.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4174.4506, + -1683.8958, + 850.0 + ], + "actual_end_pos": [ + 4174.4506, + -1683.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4174.4506, + -1683.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4174.4506, + -1683.8958, + 850.0 + ], + "actual_end_pos": [ + 4174.4506, + -1683.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4174.4506, + -1683.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4174.4506, + -1683.8958, + 850.0 + ], + "actual_end_pos": [ + 4174.4506, + -1683.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4174.4506, + -1683.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4174.4506, + -1583.8958, + 850.0 + ], + "actual_end_pos": [ + 4174.4506, + -1583.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4174.4506, + -1583.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4174.4506, + -1483.8958, + 850.0 + ], + "actual_end_pos": [ + 4174.4506, + -1483.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4174.4506, + -1483.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4174.4506, + -1383.8958, + 850.0 + ], + "actual_end_pos": [ + 4174.4506, + -1383.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4174.4506, + -1383.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_pos": [ + 4274.4506, + -1383.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_006296_meta.json b/loop_easy/run_20260422_172644__traj_006296_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..acc6774c8b0e094a1b24d18102b46ff451e550bb --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_006296_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 6296, + "episode_id": 0, + "state_id": 4680, + "sample_index": 4680, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 4480.0, + -1770.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_right", + "move_forward", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "turn_right", + "move_backward", + "move_right", + "move_backward", + "move_right", + "move_backward", + "no_op", + "move_forward", + "turn_right", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4480.0, + -1770.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4480.0, + -1770.0, + 850.0 + ], + "actual_end_pos": [ + 4480.0, + -1770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4480.0, + -1770.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4454.1181, + -1673.4074, + 850.0 + ], + "actual_end_pos": [ + 4454.1181, + -1673.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4454.1181, + -1673.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4550.7107, + -1647.5255, + 850.0 + ], + "actual_end_pos": [ + 4550.7107, + -1647.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4550.7107, + -1647.5255, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4524.8288, + -1550.9329, + 850.0 + ], + "actual_end_pos": [ + 4524.8288, + -1550.9329, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4524.8288, + -1550.9329, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4498.9469, + -1454.3403, + 850.0 + ], + "actual_end_pos": [ + 4498.9469, + -1454.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4498.9469, + -1454.3403, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4473.065, + -1357.7478, + 850.0 + ], + "actual_end_pos": [ + 4473.065, + -1357.7478, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4473.065, + -1357.7478, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4473.065, + -1357.7478, + 850.0 + ], + "actual_end_pos": [ + 4473.065, + -1357.7478, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4473.065, + -1357.7478, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 4523.065, + -1444.3503, + 850.0 + ], + "actual_end_pos": [ + 4523.065, + -1444.3503, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4523.065, + -1444.3503, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 4523.065, + -1444.3503, + 850.0 + ], + "actual_end_pos": [ + 4523.065, + -1444.3503, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4523.065, + -1444.3503, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4523.065, + -1444.3503, + 850.0 + ], + "actual_end_pos": [ + 4523.065, + -1444.3503, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4523.065, + -1444.3503, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4523.065, + -1544.3503, + 850.0 + ], + "actual_end_pos": [ + 4523.065, + -1544.3503, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4523.065, + -1544.3503, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4523.065, + -1644.3503, + 850.0 + ], + "actual_end_pos": [ + 4523.065, + -1644.3503, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4523.065, + -1644.3503, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4523.065, + -1644.3503, + 850.0 + ], + "actual_end_pos": [ + 4523.065, + -1644.3503, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4523.065, + -1644.3503, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4426.4724, + -1670.2322, + 850.0 + ], + "actual_end_pos": [ + 4426.4724, + -1670.2322, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4426.4724, + -1670.2322, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4400.5905, + -1573.6396, + 850.0 + ], + "actual_end_pos": [ + 4400.5905, + -1573.6396, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4400.5905, + -1573.6396, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4303.9979, + -1599.5215, + 850.0 + ], + "actual_end_pos": [ + 4303.9979, + -1599.5215, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4303.9979, + -1599.5215, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4278.116, + -1502.9289, + 850.0 + ], + "actual_end_pos": [ + 4278.116, + -1502.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4278.116, + -1502.9289, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4181.5234, + -1528.8109, + 850.0 + ], + "actual_end_pos": [ + 4181.5234, + -1528.8109, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4181.5234, + -1528.8109, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4181.5234, + -1528.8109, + 850.0 + ], + "actual_end_pos": [ + 4181.5234, + -1528.8109, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4181.5234, + -1528.8109, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4278.116, + -1502.9289, + 850.0 + ], + "actual_end_pos": [ + 4278.116, + -1502.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4278.116, + -1502.9289, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4278.116, + -1502.9289, + 850.0 + ], + "actual_end_pos": [ + 4278.116, + -1502.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4278.116, + -1502.9289, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 4278.116, + -1502.9289, + 850.0 + ], + "actual_end_pos": [ + 4278.116, + -1502.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4278.116, + -1502.9289, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4278.116, + -1502.9289, + 850.0 + ], + "actual_end_pos": [ + 4278.116, + -1502.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4278.116, + -1502.9289, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4378.116, + -1502.9289, + 850.0 + ], + "actual_end_pos": [ + 4378.116, + -1502.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4378.116, + -1502.9289, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4478.116, + -1502.9289, + 850.0 + ], + "actual_end_pos": [ + 4478.116, + -1502.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4478.116, + -1502.9289, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4478.116, + -1602.9289, + 850.0 + ], + "actual_end_pos": [ + 4478.116, + -1602.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4478.116, + -1602.9289, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4478.116, + -1702.9289, + 850.0 + ], + "actual_end_pos": [ + 4478.116, + -1702.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4478.116, + -1702.9289, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_pos": [ + 4478.116, + -1802.9289, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_006323_meta.json b/loop_easy/run_20260422_172644__traj_006323_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4880ac94603c170551432da266a3c5dddafeb982 --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_006323_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 6323, + "episode_id": 0, + "state_id": 4703, + "sample_index": 4703, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 4480.0, + -1370.0, + 850.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "turn_right", + "move_backward", + "move_backward", + "turn_left", + "move_left", + "turn_left", + "move_right", + "turn_left", + "move_left", + "move_backward", + "move_backward", + "move_right", + "move_forward", + "turn_right", + "move_backward", + "move_backward", + "move_left", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "move_right", + "move_right", + "turn_right", + "move_forward", + "move_forward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4480.0, + -1370.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4550.7107, + -1299.2893, + 850.0 + ], + "actual_end_pos": [ + 4550.7107, + -1299.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4550.7107, + -1299.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4550.7107, + -1299.2893, + 850.0 + ], + "actual_end_pos": [ + 4550.7107, + -1299.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4550.7107, + -1299.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4464.1081, + -1249.2893, + 850.0 + ], + "actual_end_pos": [ + 4464.1081, + -1249.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4464.1081, + -1249.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4377.5056, + -1199.2893, + 850.0 + ], + "actual_end_pos": [ + 4377.5056, + -1199.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4377.5056, + -1199.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4377.5056, + -1199.2893, + 850.0 + ], + "actual_end_pos": [ + 4377.5056, + -1199.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4377.5056, + -1199.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4306.7949, + -1270.0, + 850.0 + ], + "actual_end_pos": [ + 4306.7949, + -1270.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4306.7949, + -1270.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4306.7949, + -1270.0, + 850.0 + ], + "actual_end_pos": [ + 4306.7949, + -1270.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4306.7949, + -1270.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4393.3975, + -1220.0, + 850.0 + ], + "actual_end_pos": [ + 4393.3975, + -1220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4393.3975, + -1220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4393.3975, + -1220.0, + 850.0 + ], + "actual_end_pos": [ + 4393.3975, + -1220.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4393.3975, + -1220.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4296.8049, + -1245.8819, + 850.0 + ], + "actual_end_pos": [ + 4296.8049, + -1245.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4296.8049, + -1245.8819, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4270.923, + -1149.2893, + 850.0 + ], + "actual_end_pos": [ + 4270.923, + -1149.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4270.923, + -1149.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4245.0411, + -1052.6967, + 850.0 + ], + "actual_end_pos": [ + 4245.0411, + -1052.6967, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4245.0411, + -1052.6967, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4341.6336, + -1026.8148, + 850.0 + ], + "actual_end_pos": [ + 4341.6336, + -1026.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4341.6336, + -1026.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4367.5156, + -1123.4074, + 850.0 + ], + "actual_end_pos": [ + 4367.5156, + -1123.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4367.5156, + -1123.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4367.5156, + -1123.4074, + 850.0 + ], + "actual_end_pos": [ + 4367.5156, + -1123.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4367.5156, + -1123.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4317.5156, + -1036.8049, + 850.0 + ], + "actual_end_pos": [ + 4317.5156, + -1036.8049, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4317.5156, + -1036.8049, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4267.5156, + -950.2023, + 850.0 + ], + "actual_end_pos": [ + 4267.5156, + -950.2023, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4267.5156, + -950.2023, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4180.913, + -1000.2023, + 850.0 + ], + "actual_end_pos": [ + 4180.913, + -1000.2023, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4180.913, + -1000.2023, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4230.913, + -1086.8049, + 850.0 + ], + "actual_end_pos": [ + 4230.913, + -1086.8049, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4230.913, + -1086.8049, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4280.913, + -1173.4074, + 850.0 + ], + "actual_end_pos": [ + 4280.913, + -1173.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4280.913, + -1173.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4194.3105, + -1223.4074, + 850.0 + ], + "actual_end_pos": [ + 4194.3105, + -1223.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4194.3105, + -1223.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4244.3105, + -1310.01, + 850.0 + ], + "actual_end_pos": [ + 4244.3105, + -1310.01, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4244.3105, + -1310.01, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4330.913, + -1260.01, + 850.0 + ], + "actual_end_pos": [ + 4330.913, + -1260.01, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4330.913, + -1260.01, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4417.5156, + -1210.01, + 850.0 + ], + "actual_end_pos": [ + 4417.5156, + -1210.01, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4417.5156, + -1210.01, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4417.5156, + -1210.01, + 850.0 + ], + "actual_end_pos": [ + 4417.5156, + -1210.01, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4417.5156, + -1210.01, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4488.2262, + -1280.7206, + 850.0 + ], + "actual_end_pos": [ + 4488.2262, + -1280.7206, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4488.2262, + -1280.7206, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4558.9369, + -1351.4313, + 850.0 + ], + "actual_end_pos": [ + 4558.9369, + -1351.4313, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4558.9369, + -1351.4313, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_pos": [ + 4488.2262, + -1422.142, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_006357_meta.json b/loop_easy/run_20260422_172644__traj_006357_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7566f235b94a45d7b76369e25004d21c2334ee51 --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_006357_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 6357, + "episode_id": 0, + "state_id": 4728, + "sample_index": 4728, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 4480.0, + 3430.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_right", + "move_forward", + "move_right", + "move_forward", + "turn_left", + "move_right", + "move_backward", + "turn_left", + "move_right", + "turn_left", + "move_left", + "move_left", + "turn_left", + "move_forward", + "turn_left", + "move_left", + "no_op", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4480.0, + 3430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4580.0, + 3430.0, + 850.0 + ], + "actual_end_pos": [ + 4580.0, + 3430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4580.0, + 3430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "actual_end_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "actual_end_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4776.5926, + 3455.8819, + 850.0 + ], + "actual_end_pos": [ + 4776.5926, + 3455.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4776.5926, + 3455.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4750.7107, + 3552.4745, + 850.0 + ], + "actual_end_pos": [ + 4750.7107, + 3552.4745, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4750.7107, + 3552.4745, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4847.3033, + 3578.3564, + 850.0 + ], + "actual_end_pos": [ + 4847.3033, + 3578.3564, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4847.3033, + 3578.3564, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4847.3033, + 3578.3564, + 850.0 + ], + "actual_end_pos": [ + 4847.3033, + 3578.3564, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4847.3033, + 3578.3564, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4847.3033, + 3678.3564, + 850.0 + ], + "actual_end_pos": [ + 4847.3033, + 3678.3564, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4847.3033, + 3678.3564, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4747.3033, + 3678.3564, + 850.0 + ], + "actual_end_pos": [ + 4747.3033, + 3678.3564, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4747.3033, + 3678.3564, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4747.3033, + 3678.3564, + 850.0 + ], + "actual_end_pos": [ + 4747.3033, + 3678.3564, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4747.3033, + 3678.3564, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 4773.1852, + 3774.949, + 850.0 + ], + "actual_end_pos": [ + 4773.1852, + 3774.949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4773.1852, + 3774.949, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 4773.1852, + 3774.949, + 850.0 + ], + "actual_end_pos": [ + 4773.1852, + 3774.949, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4773.1852, + 3774.949, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4723.1852, + 3688.3464, + 850.0 + ], + "actual_end_pos": [ + 4723.1852, + 3688.3464, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4723.1852, + 3688.3464, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4673.1852, + 3601.7439, + 850.0 + ], + "actual_end_pos": [ + 4673.1852, + 3601.7439, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4673.1852, + 3601.7439, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4673.1852, + 3601.7439, + 850.0 + ], + "actual_end_pos": [ + 4673.1852, + 3601.7439, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4673.1852, + 3601.7439, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4743.8958, + 3531.0332, + 850.0 + ], + "actual_end_pos": [ + 4743.8958, + 3531.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4743.8958, + 3531.0332, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4743.8958, + 3531.0332, + 850.0 + ], + "actual_end_pos": [ + 4743.8958, + 3531.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4743.8958, + 3531.0332, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4657.2933, + 3481.0332, + 850.0 + ], + "actual_end_pos": [ + 4657.2933, + 3481.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4657.2933, + 3481.0332, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4657.2933, + 3481.0332, + 850.0 + ], + "actual_end_pos": [ + 4657.2933, + 3481.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4657.2933, + 3481.0332, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4657.2933, + 3481.0332, + 850.0 + ], + "actual_end_pos": [ + 4657.2933, + 3481.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4657.2933, + 3481.0332, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4657.2933, + 3481.0332, + 850.0 + ], + "actual_end_pos": [ + 4657.2933, + 3481.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4657.2933, + 3481.0332, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4657.2933, + 3481.0332, + 850.0 + ], + "actual_end_pos": [ + 4657.2933, + 3481.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4657.2933, + 3481.0332, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 4657.2933, + 3481.0332, + 850.0 + ], + "actual_end_pos": [ + 4657.2933, + 3481.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4657.2933, + 3481.0332, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4557.2933, + 3481.0332, + 850.0 + ], + "actual_end_pos": [ + 4557.2933, + 3481.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4557.2933, + 3481.0332, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4457.2933, + 3481.0332, + 850.0 + ], + "actual_end_pos": [ + 4457.2933, + 3481.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4457.2933, + 3481.0332, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_pos": [ + 4457.2933, + 3381.0332, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_easy/run_20260422_172644__traj_006397_meta.json b/loop_easy/run_20260422_172644__traj_006397_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..573f1d2e3d08bb823fe98f2e0387ccb163e7d957 --- /dev/null +++ b/loop_easy/run_20260422_172644__traj_006397_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 6397, + "episode_id": 0, + "state_id": 4758, + "sample_index": 4758, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "loop", + "algebraic_property": "loop: T_A(s₀) = s₀ (closed-loop closure)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 4480.0, + 4430.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_left", + "move_backward", + "turn_left", + "turn_left", + "move_right", + "turn_right", + "move_left", + "turn_left", + "no_op", + "turn_right", + "move_right", + "move_forward", + "no_op", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4480.0, + 4430.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4480.0, + 4430.0, + 850.0 + ], + "actual_end_pos": [ + 4480.0, + 4430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4480.0, + 4430.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4383.4074, + 4404.1181, + 850.0 + ], + "actual_end_pos": [ + 4383.4074, + 4404.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4383.4074, + 4404.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4357.5255, + 4500.7107, + 850.0 + ], + "actual_end_pos": [ + 4357.5255, + 4500.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4357.5255, + 4500.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4357.5255, + 4500.7107, + 850.0 + ], + "actual_end_pos": [ + 4357.5255, + 4500.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4357.5255, + 4500.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4357.5255, + 4500.7107, + 850.0 + ], + "actual_end_pos": [ + 4357.5255, + 4500.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4357.5255, + 4500.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 4454.1181, + 4474.8288, + 850.0 + ], + "actual_end_pos": [ + 4454.1181, + 4474.8288, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4454.1181, + 4474.8288, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 4454.1181, + 4474.8288, + 850.0 + ], + "actual_end_pos": [ + 4454.1181, + 4474.8288, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4454.1181, + 4474.8288, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4354.1181, + 4474.8288, + 850.0 + ], + "actual_end_pos": [ + 4354.1181, + 4474.8288, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4354.1181, + 4474.8288, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4354.1181, + 4474.8288, + 850.0 + ], + "actual_end_pos": [ + 4354.1181, + 4474.8288, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4354.1181, + 4474.8288, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 4354.1181, + 4474.8288, + 850.0 + ], + "actual_end_pos": [ + 4354.1181, + 4474.8288, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4354.1181, + 4474.8288, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 4354.1181, + 4474.8288, + 850.0 + ], + "actual_end_pos": [ + 4354.1181, + 4474.8288, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4354.1181, + 4474.8288, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4454.1181, + 4474.8288, + 850.0 + ], + "actual_end_pos": [ + 4454.1181, + 4474.8288, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4454.1181, + 4474.8288, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4454.1181, + 4374.8288, + 850.0 + ], + "actual_end_pos": [ + 4454.1181, + 4374.8288, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4454.1181, + 4374.8288, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4454.1181, + 4374.8288, + 850.0 + ], + "actual_end_pos": [ + 4454.1181, + 4374.8288, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4454.1181, + 4374.8288, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4454.1181, + 4374.8288, + 850.0 + ], + "actual_end_pos": [ + 4454.1181, + 4374.8288, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4454.1181, + 4374.8288, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4454.1181, + 4374.8288, + 850.0 + ], + "actual_end_pos": [ + 4454.1181, + 4374.8288, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4454.1181, + 4374.8288, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4504.1181, + 4288.2262, + 850.0 + ], + "actual_end_pos": [ + 4504.1181, + 4288.2262, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4504.1181, + 4288.2262, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4504.1181, + 4288.2262, + 850.0 + ], + "actual_end_pos": [ + 4504.1181, + 4288.2262, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4504.1181, + 4288.2262, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4358.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4358.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4433.4074, + 4358.9369, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4358.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4358.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4433.4074, + 4358.9369, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4358.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4358.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4433.4074, + 4358.9369, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4358.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4358.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4433.4074, + 4358.9369, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_pos": [ + 4433.4074, + 4458.9369, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_hard/run_20260426_170845__traj_000000_meta.json b/loop_hard/run_20260426_170845__traj_000000_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3060620048ffe8040983f10f9d61c532d287205a --- /dev/null +++ b/loop_hard/run_20260426_170845__traj_000000_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 0, + "episode_id": 0, + "state_id": 0, + "sample_index": 0, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_loop", + "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4620.0, + -4900.0, + 300.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4520.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4470.0, + -4813.3975, + 300.0 + ], + "actual_end_pos": [ + -4470.0, + -4813.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4470.0, + -4813.3975, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4520.0, + -4726.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4570.0, + -4813.3975, + 300.0 + ], + "actual_end_pos": [ + -4570.0, + -4813.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4570.0, + -4813.3975, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_hard/run_20260426_170845__traj_000003_meta.json b/loop_hard/run_20260426_170845__traj_000003_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..15edd49b22de78df16a95d03e36192c9b15ca942 --- /dev/null +++ b/loop_hard/run_20260426_170845__traj_000003_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 3, + "episode_id": 0, + "state_id": 0, + "sample_index": 0, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_loop", + "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4620.0, + -4900.0, + 300.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4520.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4420.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4320.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4320.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4320.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4220.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4220.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4220.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4120.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4170.0, + -4986.6025, + 300.0 + ], + "actual_end_pos": [ + -4170.0, + -4986.6025, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4170.0, + -4986.6025, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4220.0, + -5073.2051, + 300.0 + ], + "actual_end_pos": [ + -4220.0, + -5073.2051, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4220.0, + -5073.2051, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4270.0, + -5159.8076, + 300.0 + ], + "actual_end_pos": [ + -4270.0, + -5159.8076, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4270.0, + -5159.8076, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4320.0, + -5246.4102, + 300.0 + ], + "actual_end_pos": [ + -4320.0, + -5246.4102, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4320.0, + -5246.4102, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "actual_end_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "actual_end_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "actual_end_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "actual_end_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "actual_end_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "actual_end_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "actual_end_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "actual_end_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "actual_end_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4370.0, + -5333.0127, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -5246.4102, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -5246.4102, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4420.0, + -5246.4102, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4470.0, + -5159.8076, + 300.0 + ], + "actual_end_pos": [ + -4470.0, + -5159.8076, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4470.0, + -5159.8076, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -5073.2051, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -5073.2051, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4520.0, + -5073.2051, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4570.0, + -4986.6025, + 300.0 + ], + "actual_end_pos": [ + -4570.0, + -4986.6025, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4570.0, + -4986.6025, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_hard/run_20260426_170845__traj_000013_meta.json b/loop_hard/run_20260426_170845__traj_000013_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..70ef6e24cd8a0d4398fb9e21473a20f458b8f1b9 --- /dev/null +++ b/loop_hard/run_20260426_170845__traj_000013_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 13, + "episode_id": 0, + "state_id": 1, + "sample_index": 1, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_loop", + "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4620.0, + -4900.0, + 300.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4800.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4800.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -4800.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -4700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -4600.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -4650.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -4650.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4533.3975, + -4650.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4700.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4446.7949, + -4700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "actual_end_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "actual_end_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "actual_end_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "actual_end_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "actual_end_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "actual_end_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "actual_end_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "actual_end_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "actual_end_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4360.1924, + -4750.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4800.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4800.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4446.7949, + -4800.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -4850.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -4850.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4533.3975, + -4850.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_hard/run_20260426_170845__traj_000017_meta.json b/loop_hard/run_20260426_170845__traj_000017_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..86e4f5774b5dd14d203f16d32fe23e6089966686 --- /dev/null +++ b/loop_hard/run_20260426_170845__traj_000017_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 17, + "episode_id": 0, + "state_id": 1, + "sample_index": 1, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_loop", + "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4620.0, + -4900.0, + 300.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4800.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4800.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4800.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4800.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4800.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4800.0, + 300.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4800.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4800.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4800.0, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4800.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4800.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4800.0, + 300.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4800.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4800.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -4800.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -4750.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -4750.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4533.3975, + -4750.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -4750.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -4750.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4533.3975, + -4750.0, + 300.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -4750.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -4750.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4533.3975, + -4750.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -4750.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -4750.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4533.3975, + -4750.0, + 300.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -4750.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -4750.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4533.3975, + -4750.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4800.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4800.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4446.7949, + -4800.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4800.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4800.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4446.7949, + -4800.0, + 300.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4800.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4800.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4446.7949, + -4800.0, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4800.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4800.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4446.7949, + -4800.0, + 300.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4800.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4800.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4446.7949, + -4800.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -4950.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -4950.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4533.3975, + -4950.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -4950.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -4950.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4533.3975, + -4950.0, + 300.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -4950.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -4950.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4533.3975, + -4950.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -4950.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -4950.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4533.3975, + -4950.0, + 300.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -4950.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -4950.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4533.3975, + -4950.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_hard/run_20260426_170845__traj_000024_meta.json b/loop_hard/run_20260426_170845__traj_000024_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..439a2bc0efa31b9ea3e707a16b60473c14183bf8 --- /dev/null +++ b/loop_hard/run_20260426_170845__traj_000024_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 24, + "episode_id": 0, + "state_id": 2, + "sample_index": 2, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_loop", + "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4620.0, + -4900.0, + 300.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4720.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4720.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4720.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4820.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4920.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -5020.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -5020.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -5020.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -5120.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -5070.0, + -4813.3974, + 300.0 + ], + "actual_end_pos": [ + -5070.0, + -4813.3974, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -5070.0, + -4813.3974, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -5020.0, + -4726.7949, + 300.0 + ], + "actual_end_pos": [ + -5020.0, + -4726.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -5020.0, + -4726.7949, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4970.0, + -4640.1924, + 300.0 + ], + "actual_end_pos": [ + -4970.0, + -4640.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4970.0, + -4640.1924, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -4553.5898, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -4553.5898, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4920.0, + -4553.5898, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "actual_end_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "actual_end_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "actual_end_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "actual_end_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "actual_end_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "actual_end_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "actual_end_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "actual_end_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "actual_end_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4870.0, + -4466.9873, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -4553.5898, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -4553.5898, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4820.0, + -4553.5898, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -4640.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -4640.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4770.0, + -4640.1924, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4720.0, + -4726.7949, + 300.0 + ], + "actual_end_pos": [ + -4720.0, + -4726.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4720.0, + -4726.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4670.0, + -4813.3974, + 300.0 + ], + "actual_end_pos": [ + -4670.0, + -4813.3974, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4670.0, + -4813.3974, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_hard/run_20260426_170845__traj_000037_meta.json b/loop_hard/run_20260426_170845__traj_000037_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3f892ed0c1179b4f60d9ccb5416aea2aa7ecf693 --- /dev/null +++ b/loop_hard/run_20260426_170845__traj_000037_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 37, + "episode_id": 0, + "state_id": 3, + "sample_index": 3, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_loop", + "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4620.0, + -4900.0, + 300.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -5000.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -5000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -5000.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -5100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4706.6025, + -5050.0, + 300.0 + ], + "actual_end_pos": [ + -4706.6025, + -5050.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4706.6025, + -5050.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "actual_end_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "actual_end_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "actual_end_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "actual_end_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "actual_end_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "actual_end_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "actual_end_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "actual_end_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "actual_end_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4793.2051, + -5000.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4706.6025, + -4950.0, + 300.0 + ], + "actual_end_pos": [ + -4706.6025, + -4950.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4706.6025, + -4950.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_hard/run_20260426_170845__traj_000047_meta.json b/loop_hard/run_20260426_170845__traj_000047_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cb7a27a8a60fad1e34ea6befcb5eb13d27bac314 --- /dev/null +++ b/loop_hard/run_20260426_170845__traj_000047_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 47, + "episode_id": 0, + "state_id": 3, + "sample_index": 3, + "trajectory_index_at_point": 7, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_loop", + "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4620.0, + -4900.0, + 300.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -5000.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -5000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -5000.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -5000.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -5000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -5000.0, + 300.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -5000.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -5000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -5000.0, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -5000.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -5000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -5000.0, + 300.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -5000.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -5000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -5000.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -5050.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -5050.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4533.3975, + -5050.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -5050.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -5050.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4533.3975, + -5050.0, + 300.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -5050.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -5050.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4533.3975, + -5050.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -5050.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -5050.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4533.3975, + -5050.0, + 300.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -5050.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -5050.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4533.3975, + -5050.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -5000.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -5000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -5000.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -5000.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -5000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -5000.0, + 300.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -5000.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -5000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -5000.0, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -5000.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -5000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -5000.0, + 300.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -5000.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -5000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4446.7949, + -5000.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4446.7949, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -4850.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -4850.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4533.3975, + -4850.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -4850.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -4850.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4533.3975, + -4850.0, + 300.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -4850.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -4850.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4533.3975, + -4850.0, + 300.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -4850.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -4850.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4533.3975, + -4850.0, + 300.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -4850.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -4850.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4533.3975, + -4850.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_hard/run_20260426_170845__traj_000048_meta.json b/loop_hard/run_20260426_170845__traj_000048_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..88e95f230c1cd0be93ce20088849bf0e9ffc1d3a --- /dev/null +++ b/loop_hard/run_20260426_170845__traj_000048_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 48, + "episode_id": 0, + "state_id": 4, + "sample_index": 4, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_loop", + "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4620.0, + -4300.0, + 300.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4520.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4420.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4320.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4370.0, + -4213.3975, + 300.0 + ], + "actual_end_pos": [ + -4370.0, + -4213.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4370.0, + -4213.3975, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -4126.7949, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -4126.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4420.0, + -4126.7949, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "actual_end_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "actual_end_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "actual_end_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "actual_end_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "actual_end_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "actual_end_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "actual_end_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "actual_end_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "actual_end_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4470.0, + -4040.1924, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -4126.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -4126.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4520.0, + -4126.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4570.0, + -4213.3975, + 300.0 + ], + "actual_end_pos": [ + -4570.0, + -4213.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4570.0, + -4213.3975, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_hard/run_20260426_170845__traj_000074_meta.json b/loop_hard/run_20260426_170845__traj_000074_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5cfaff800d7ab3f545f76dfc91a507cd659f4f24 --- /dev/null +++ b/loop_hard/run_20260426_170845__traj_000074_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 74, + "episode_id": 0, + "state_id": 6, + "sample_index": 6, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_loop", + "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4620.0, + -4300.0, + 300.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4720.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4720.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4720.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4920.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4870.0, + -4213.3975, + 300.0 + ], + "actual_end_pos": [ + -4870.0, + -4213.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4870.0, + -4213.3975, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -4126.7949, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -4126.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4820.0, + -4126.7949, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4770.0, + -4040.1924, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4720.0, + -4126.7949, + 300.0 + ], + "actual_end_pos": [ + -4720.0, + -4126.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4720.0, + -4126.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4670.0, + -4213.3975, + 300.0 + ], + "actual_end_pos": [ + -4670.0, + -4213.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4670.0, + -4213.3975, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_hard/run_20260426_170845__traj_000082_meta.json b/loop_hard/run_20260426_170845__traj_000082_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0c52ba865b61c14e068107724b92094a8c2dea25 --- /dev/null +++ b/loop_hard/run_20260426_170845__traj_000082_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 82, + "episode_id": 0, + "state_id": 6, + "sample_index": 6, + "trajectory_index_at_point": 5, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_loop", + "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4620.0, + -4300.0, + 300.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4720.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4720.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4720.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4820.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -4400.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -4400.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4820.0, + -4400.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -4500.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -4500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -4500.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -4500.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -4500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -4500.0, + 300.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -4500.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -4500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -4500.0, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -4500.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -4500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -4500.0, + 300.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -4500.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -4500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -4500.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -4500.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -4500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -4500.0, + 300.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -4500.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -4500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4820.0, + -4500.0, + 300.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -4720.0, + -4500.0, + 300.0 + ], + "actual_end_pos": [ + -4720.0, + -4500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4720.0, + -4500.0, + 300.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4500.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4500.0, + 300.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4500.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4500.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4500.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4500.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4500.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4500.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -4500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4400.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4400.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -4400.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_hard/run_20260426_170845__traj_000089_meta.json b/loop_hard/run_20260426_170845__traj_000089_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..afe3bfa8f2e895acbdf79dbc3b64395b7c0dcd3b --- /dev/null +++ b/loop_hard/run_20260426_170845__traj_000089_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 89, + "episode_id": 0, + "state_id": 7, + "sample_index": 7, + "trajectory_index_at_point": 2, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_loop", + "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4620.0, + -4300.0, + 300.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4400.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4400.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4400.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4400.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4400.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4400.0, + 300.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4400.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4400.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4400.0, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4400.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4400.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4400.0, + 300.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4400.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4400.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -4400.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4706.6025, + -4450.0, + 300.0 + ], + "actual_end_pos": [ + -4706.6025, + -4450.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4706.6025, + -4450.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4706.6025, + -4450.0, + 300.0 + ], + "actual_end_pos": [ + -4706.6025, + -4450.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4706.6025, + -4450.0, + 300.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4706.6025, + -4450.0, + 300.0 + ], + "actual_end_pos": [ + -4706.6025, + -4450.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4706.6025, + -4450.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4706.6025, + -4450.0, + 300.0 + ], + "actual_end_pos": [ + -4706.6025, + -4450.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4706.6025, + -4450.0, + 300.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4706.6025, + -4450.0, + 300.0 + ], + "actual_end_pos": [ + -4706.6025, + -4450.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4706.6025, + -4450.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4793.2051, + -4400.0, + 300.0 + ], + "actual_end_pos": [ + -4793.2051, + -4400.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4793.2051, + -4400.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4793.2051, + -4400.0, + 300.0 + ], + "actual_end_pos": [ + -4793.2051, + -4400.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4793.2051, + -4400.0, + 300.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4793.2051, + -4400.0, + 300.0 + ], + "actual_end_pos": [ + -4793.2051, + -4400.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4793.2051, + -4400.0, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4793.2051, + -4400.0, + 300.0 + ], + "actual_end_pos": [ + -4793.2051, + -4400.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4793.2051, + -4400.0, + 300.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4793.2051, + -4400.0, + 300.0 + ], + "actual_end_pos": [ + -4793.2051, + -4400.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4793.2051, + -4400.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4793.2051, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4793.2051, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4793.2051, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4793.2051, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4793.2051, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4793.2051, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4793.2051, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4793.2051, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4793.2051, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4793.2051, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4793.2051, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4793.2051, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4793.2051, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4793.2051, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4793.2051, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4706.6025, + -4250.0, + 300.0 + ], + "actual_end_pos": [ + -4706.6025, + -4250.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4706.6025, + -4250.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4706.6025, + -4250.0, + 300.0 + ], + "actual_end_pos": [ + -4706.6025, + -4250.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4706.6025, + -4250.0, + 300.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4706.6025, + -4250.0, + 300.0 + ], + "actual_end_pos": [ + -4706.6025, + -4250.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4706.6025, + -4250.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4706.6025, + -4250.0, + 300.0 + ], + "actual_end_pos": [ + -4706.6025, + -4250.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4706.6025, + -4250.0, + 300.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4706.6025, + -4250.0, + 300.0 + ], + "actual_end_pos": [ + -4706.6025, + -4250.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4706.6025, + -4250.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -4300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_hard/run_20260426_170845__traj_000100_meta.json b/loop_hard/run_20260426_170845__traj_000100_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d7d3d82ffe182d71bee2da134ab75040cc26d45c --- /dev/null +++ b/loop_hard/run_20260426_170845__traj_000100_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 100, + "episode_id": 0, + "state_id": 8, + "sample_index": 8, + "trajectory_index_at_point": 1, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_loop", + "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4620.0, + -3700.0, + 300.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4520.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4470.0, + -3613.3975, + 300.0 + ], + "actual_end_pos": [ + -4470.0, + -3613.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4470.0, + -3613.3975, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4470.0, + -3613.3975, + 300.0 + ], + "actual_end_pos": [ + -4470.0, + -3613.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4470.0, + -3613.3975, + 300.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4470.0, + -3613.3975, + 300.0 + ], + "actual_end_pos": [ + -4470.0, + -3613.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4470.0, + -3613.3975, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4470.0, + -3613.3975, + 300.0 + ], + "actual_end_pos": [ + -4470.0, + -3613.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4470.0, + -3613.3975, + 300.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4470.0, + -3613.3975, + 300.0 + ], + "actual_end_pos": [ + -4470.0, + -3613.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4470.0, + -3613.3975, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4670.0, + -3613.3975, + 300.0 + ], + "actual_end_pos": [ + -4670.0, + -3613.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4670.0, + -3613.3975, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4670.0, + -3613.3975, + 300.0 + ], + "actual_end_pos": [ + -4670.0, + -3613.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4670.0, + -3613.3975, + 300.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4670.0, + -3613.3975, + 300.0 + ], + "actual_end_pos": [ + -4670.0, + -3613.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4670.0, + -3613.3975, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4670.0, + -3613.3975, + 300.0 + ], + "actual_end_pos": [ + -4670.0, + -3613.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4670.0, + -3613.3975, + 300.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4670.0, + -3613.3975, + 300.0 + ], + "actual_end_pos": [ + -4670.0, + -3613.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4670.0, + -3613.3975, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_hard/run_20260426_170845__traj_000107_meta.json b/loop_hard/run_20260426_170845__traj_000107_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1fa237606c5f8b2b8e8607e2485d7440ad739c5f --- /dev/null +++ b/loop_hard/run_20260426_170845__traj_000107_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 107, + "episode_id": 0, + "state_id": 8, + "sample_index": 8, + "trajectory_index_at_point": 5, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_loop", + "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4620.0, + -3700.0, + 300.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4520.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4420.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4470.0, + -3613.3975, + 300.0 + ], + "actual_end_pos": [ + -4470.0, + -3613.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4470.0, + -3613.3975, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4520.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4570.0, + -3613.3975, + 300.0 + ], + "actual_end_pos": [ + -4570.0, + -3613.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4570.0, + -3613.3975, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_hard/run_20260426_170845__traj_000128_meta.json b/loop_hard/run_20260426_170845__traj_000128_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7845ec2dc51a3c101c9e29bde77e0ddd57e26dfb --- /dev/null +++ b/loop_hard/run_20260426_170845__traj_000128_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 128, + "episode_id": 0, + "state_id": 10, + "sample_index": 10, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_loop", + "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4620.0, + -3700.0, + 300.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4720.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4720.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4720.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4820.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4870.0, + -3613.3975, + 300.0 + ], + "actual_end_pos": [ + -4870.0, + -3613.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4870.0, + -3613.3975, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4820.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4720.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4720.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4720.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4670.0, + -3613.3975, + 300.0 + ], + "actual_end_pos": [ + -4670.0, + -3613.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4670.0, + -3613.3975, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_hard/run_20260426_170845__traj_000129_meta.json b/loop_hard/run_20260426_170845__traj_000129_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..82529c9dd678ca757373b381b577257be83f67fd --- /dev/null +++ b/loop_hard/run_20260426_170845__traj_000129_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 129, + "episode_id": 0, + "state_id": 10, + "sample_index": 10, + "trajectory_index_at_point": 5, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_loop", + "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4620.0, + -3700.0, + 300.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4720.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4720.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4720.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4820.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4920.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4870.0, + -3613.3974, + 300.0 + ], + "actual_end_pos": [ + -4870.0, + -3613.3974, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4870.0, + -3613.3974, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4820.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4770.0, + -3440.1924, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4720.0, + -3526.7949, + 300.0 + ], + "actual_end_pos": [ + -4720.0, + -3526.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4720.0, + -3526.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4670.0, + -3613.3974, + 300.0 + ], + "actual_end_pos": [ + -4670.0, + -3613.3974, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4670.0, + -3613.3974, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_hard/run_20260426_170845__traj_000143_meta.json b/loop_hard/run_20260426_170845__traj_000143_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fea2133158bcab010af2f28a5d53494f5e5b406a --- /dev/null +++ b/loop_hard/run_20260426_170845__traj_000143_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 143, + "episode_id": 0, + "state_id": 11, + "sample_index": 11, + "trajectory_index_at_point": 6, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_loop", + "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4620.0, + -3700.0, + 300.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3800.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3800.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -3800.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -3900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -3950.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -3950.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4533.3975, + -3950.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4000.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -4000.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4000.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -4000.0, + 300.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4000.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -4000.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4000.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -4000.0, + 300.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -4000.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -4000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4446.7949, + -4000.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4360.1924, + -3950.0, + 300.0 + ], + "actual_end_pos": [ + -4360.1924, + -3950.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4360.1924, + -3950.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4273.5898, + -3900.0, + 300.0 + ], + "actual_end_pos": [ + -4273.5898, + -3900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4273.5898, + -3900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4273.5898, + -3900.0, + 300.0 + ], + "actual_end_pos": [ + -4273.5898, + -3900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4273.5898, + -3900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4273.5898, + -3900.0, + 300.0 + ], + "actual_end_pos": [ + -4273.5898, + -3900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4273.5898, + -3900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4273.5898, + -3900.0, + 300.0 + ], + "actual_end_pos": [ + -4273.5898, + -3900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4273.5898, + -3900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4273.5898, + -3900.0, + 300.0 + ], + "actual_end_pos": [ + -4273.5898, + -3900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4273.5898, + -3900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4273.5898, + -3800.0, + 300.0 + ], + "actual_end_pos": [ + -4273.5898, + -3800.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4273.5898, + -3800.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4273.5898, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4273.5898, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4273.5898, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4273.5898, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4273.5898, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4273.5898, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4273.5898, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4273.5898, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4273.5898, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4273.5898, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4273.5898, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4273.5898, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4273.5898, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4273.5898, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4273.5898, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4360.1924, + -3650.0, + 300.0 + ], + "actual_end_pos": [ + -4360.1924, + -3650.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4360.1924, + -3650.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -3600.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -3600.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -3600.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -3600.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -3600.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -3600.0, + 300.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -3600.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -3600.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -3600.0, + 300.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -3600.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -3600.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -3600.0, + 300.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -3600.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -3600.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4446.7949, + -3600.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -3650.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -3650.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4533.3975, + -3650.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3700.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_hard/run_20260426_170845__traj_000175_meta.json b/loop_hard/run_20260426_170845__traj_000175_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..87b229fdc87a05bb91ea4e2047849c4b41736fa2 --- /dev/null +++ b/loop_hard/run_20260426_170845__traj_000175_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 175, + "episode_id": 0, + "state_id": 14, + "sample_index": 14, + "trajectory_index_at_point": 6, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_loop", + "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4620.0, + -3100.0, + 300.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4720.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4720.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4720.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4820.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -3200.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -3200.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4820.0, + -3200.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -3300.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -3300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -3300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -3300.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -3300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -3300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -3300.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -3300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -3300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -3300.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -3300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -3300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -3300.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -3300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -3300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -3300.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -3300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -3300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -3300.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -3300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4820.0, + -3300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -4720.0, + -3300.0, + 300.0 + ], + "actual_end_pos": [ + -4720.0, + -3300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4720.0, + -3300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -3300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3200.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3200.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -3200.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_hard/run_20260426_170845__traj_000186_meta.json b/loop_hard/run_20260426_170845__traj_000186_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d628fd551f70884cc5b922a597b8c478067f0454 --- /dev/null +++ b/loop_hard/run_20260426_170845__traj_000186_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 186, + "episode_id": 0, + "state_id": 15, + "sample_index": 15, + "trajectory_index_at_point": 6, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_loop", + "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4620.0, + -3100.0, + 300.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3200.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3200.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3200.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3200.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3200.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3200.0, + 300.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3200.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3200.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3200.0, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3200.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3200.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3200.0, + 300.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3200.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3200.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -3200.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -3250.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -3250.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4533.3975, + -3250.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -3250.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -3250.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4533.3975, + -3250.0, + 300.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -3250.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -3250.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4533.3975, + -3250.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -3250.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -3250.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4533.3975, + -3250.0, + 300.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -3250.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -3250.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4533.3975, + -3250.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -3200.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -3200.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -3200.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -3200.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -3200.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -3200.0, + 300.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -3200.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -3200.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -3200.0, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -3200.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -3200.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -3200.0, + 300.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -3200.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -3200.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4446.7949, + -3200.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4446.7949, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4446.7949, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4446.7949, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4446.7949, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -3050.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -3050.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4533.3975, + -3050.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -3050.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -3050.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4533.3975, + -3050.0, + 300.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -3050.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -3050.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4533.3975, + -3050.0, + 300.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -3050.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -3050.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4533.3975, + -3050.0, + 300.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4533.3975, + -3050.0, + 300.0 + ], + "actual_end_pos": [ + -4533.3975, + -3050.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4533.3975, + -3050.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -3100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_hard/run_20260426_170845__traj_000224_meta.json b/loop_hard/run_20260426_170845__traj_000224_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..49199589873364851824dff14ff7efdd11ba3e49 --- /dev/null +++ b/loop_hard/run_20260426_170845__traj_000224_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 224, + "episode_id": 0, + "state_id": 18, + "sample_index": 18, + "trajectory_index_at_point": 7, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_loop", + "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4620.0, + -2500.0, + 300.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4720.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -4720.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4720.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4820.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4920.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -5020.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4970.0, + -2586.6025, + 300.0 + ], + "actual_end_pos": [ + -4970.0, + -2586.6025, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4970.0, + -2586.6025, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4920.0, + -2673.2051, + 300.0 + ], + "actual_end_pos": [ + -4920.0, + -2673.2051, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4920.0, + -2673.2051, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4870.0, + -2759.8076, + 300.0 + ], + "actual_end_pos": [ + -4870.0, + -2759.8076, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4870.0, + -2759.8076, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "actual_end_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4820.0, + -2846.4102, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4770.0, + -2759.8076, + 300.0 + ], + "actual_end_pos": [ + -4770.0, + -2759.8076, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4770.0, + -2759.8076, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4720.0, + -2673.2051, + 300.0 + ], + "actual_end_pos": [ + -4720.0, + -2673.2051, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4720.0, + -2673.2051, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4670.0, + -2586.6025, + 300.0 + ], + "actual_end_pos": [ + -4670.0, + -2586.6025, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4670.0, + -2586.6025, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2500.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_hard/run_20260426_170845__traj_000244_meta.json b/loop_hard/run_20260426_170845__traj_000244_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0824b07ec0336a68eb93b69ea13153b4ecf315fa --- /dev/null +++ b/loop_hard/run_20260426_170845__traj_000244_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 244, + "episode_id": 0, + "state_id": 20, + "sample_index": 20, + "trajectory_index_at_point": 4, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_loop", + "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4620.0, + -1900.0, + 300.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "turn_right", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4520.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4420.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4320.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4320.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4320.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4120.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4170.0, + -1813.3975, + 300.0 + ], + "actual_end_pos": [ + -4170.0, + -1813.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4170.0, + -1813.3975, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4220.0, + -1726.7949, + 300.0 + ], + "actual_end_pos": [ + -4220.0, + -1726.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4220.0, + -1726.7949, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4270.0, + -1640.1924, + 300.0 + ], + "actual_end_pos": [ + -4270.0, + -1640.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4270.0, + -1640.1924, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4320.0, + -1553.5898, + 300.0 + ], + "actual_end_pos": [ + -4320.0, + -1553.5898, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4320.0, + -1553.5898, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "actual_end_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "actual_end_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "actual_end_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "actual_end_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "actual_end_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "actual_end_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "actual_end_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "actual_end_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "actual_end_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4370.0, + -1466.9873, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -1553.5898, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -1553.5898, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4420.0, + -1553.5898, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4470.0, + -1640.1924, + 300.0 + ], + "actual_end_pos": [ + -4470.0, + -1640.1924, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4470.0, + -1640.1924, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -1726.7949, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -1726.7949, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4520.0, + -1726.7949, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4570.0, + -1813.3975, + 300.0 + ], + "actual_end_pos": [ + -4570.0, + -1813.3975, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4570.0, + -1813.3975, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/loop_hard/run_20260426_170845__traj_000249_meta.json b/loop_hard/run_20260426_170845__traj_000249_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9beca8dc25ae22dda9118db70edbb226ecbd908 --- /dev/null +++ b/loop_hard/run_20260426_170845__traj_000249_meta.json @@ -0,0 +1,1481 @@ +{ + "trajectory_id": 249, + "episode_id": 0, + "state_id": 20, + "sample_index": 20, + "trajectory_index_at_point": 7, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "hard_loop", + "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)", + "tier": "hard", + "scale_tier": { + "name": "default", + "translation_scale": 1.0, + "rotation_scale": 1.0, + "base_translation_cm": 100.0, + "base_rotation_deg": 15.0, + "effective_translation_cm": 100.0, + "effective_rotation_deg": 15.0 + }, + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4620.0, + -1900.0, + 300.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4520.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4420.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4320.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4320.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4320.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4220.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4220.0, + -2000.0, + 300.0 + ], + "actual_end_pos": [ + -4220.0, + -2000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4220.0, + -2000.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4220.0, + -2100.0, + 300.0 + ], + "actual_end_pos": [ + -4220.0, + -2100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4220.0, + -2100.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4220.0, + -2200.0, + 300.0 + ], + "actual_end_pos": [ + -4220.0, + -2200.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4220.0, + -2200.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4220.0, + -2300.0, + 300.0 + ], + "actual_end_pos": [ + -4220.0, + -2300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4220.0, + -2300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -4220.0, + -2300.0, + 300.0 + ], + "actual_end_pos": [ + -4220.0, + -2300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4220.0, + -2300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -4220.0, + -2300.0, + 300.0 + ], + "actual_end_pos": [ + -4220.0, + -2300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4220.0, + -2300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -4220.0, + -2300.0, + 300.0 + ], + "actual_end_pos": [ + -4220.0, + -2300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4220.0, + -2300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -4220.0, + -2300.0, + 300.0 + ], + "actual_end_pos": [ + -4220.0, + -2300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4220.0, + -2300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -4220.0, + -2300.0, + 300.0 + ], + "actual_end_pos": [ + -4220.0, + -2300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4220.0, + -2300.0, + 300.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -4220.0, + -2300.0, + 300.0 + ], + "actual_end_pos": [ + -4220.0, + -2300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4220.0, + -2300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4320.0, + -2300.0, + 300.0 + ], + "actual_end_pos": [ + -4320.0, + -2300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4320.0, + -2300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4420.0, + -2300.0, + 300.0 + ], + "actual_end_pos": [ + -4420.0, + -2300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4420.0, + -2300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4520.0, + -2300.0, + 300.0 + ], + "actual_end_pos": [ + -4520.0, + -2300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4520.0, + -2300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -2300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -2300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -2300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -2300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -2300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -2300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2300.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2300.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -2300.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2200.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2200.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -2200.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2100.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2100.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -2100.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -2000.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -2000.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4620.0, + -2000.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_pos": [ + -4620.0, + -1900.0, + 300.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file